An underground cable tunnel inspection robot based on dynamic PT symmetry tuning and a wireless charging system

Abstract

The application provides an underground cable tunnel inspection robot based on dynamic PT symmetry tuning and a wireless charging system, a cellular aluminum alloy magnetic and waterproof shell is used for the moving chassis, an omnidirectional four-wheel drive system is integrated, double permanent magnet synchronous motors and a stainless steel waterproof structure are equipped, and high mobility in a humid and obstacle environment is ensured. The inspection module integrates multispectral imaging, non-contact infrared temperature measurement and UWB positioning beacon, realizes cable surface defect detection and environmental parameter analysis. The dynamic energy cabin works cooperatively with the PT symmetric wireless charging tuning unit through a three-degree-of-freedom adaptive compensation mechanism, combined with a double-path power supply management module, supports all-weather non-contact energy supply. The electromagnetic waterproof shell adopts a three-layer composite shielding structure and a waterproof breather valve, effectively resisting high-frequency magnetic field interference and humid erosion. The control communication module realizes precise operation through multi-modal data fusion and main control decision. The self-cleaning device is equipped with a 360-degree rotating nozzle and a miniature high-pressure air pump, which can quickly remove contaminants on the lens, infrared window and coil surface. The application integrates dynamic PT tuning, electromagnetic barrier and intelligent compensation technology through modular design, significantly improves the inspection accuracy and safety in high-humidity, strong magnetic interference and complex terrain environment, has the characteristics of self-cleaning maintenance, efficient wireless charging and low manual intervention, and provides an all-weather autonomous intelligent operation and maintenance solution for underground cable tunnels.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of high-voltage power equipment inspection robots, and particularly relates to a wireless charging system and a structured robot carrier that are fused with PT symmetry condition adaptive optimization, and solve the problems of endurance bottleneck and poor dynamic charging robustness of an inspection robot under high-voltage electromagnetic interference. BACKGROUND

[0002] With the acceleration of urbanization, the operation reliability of an underground cable tunnel, as a core channel for power distribution, directly affects the safety of a power grid. In recent years, hidden dangers such as cable joint aging, partial discharge, and insulation damage frequently occur, so that intelligent inspection robots gradually replace manual operation and become the mainstream means for tunnel operation and maintenance. However, the special environment of the underground cable tunnel poses severe challenges to the endurance and charging safety of the robot, and the existing technology has the following significant defects:

[0003] The existing tunnel inspection robot adopts a rigid mechanical structure, and the joint module integrates a motor and a reducer, which results in a large size and insufficient flexibility, making it difficult to adapt to a narrow tunnel environment with a diameter of less than 200 mm. The deformation control precision and motion stability are insufficient, and the dynamic environment adaptation ability is also lacking. In addition, the existing robot sensor layout is scattered, and the integration degree of gas detection (such as CH4 and CO) and temperature and humidity monitoring is low, making it difficult to realize multi-parameter collaborative analysis.

[0004] Wireless charging technology faces three major challenges in the tunnel scene: (1) coil misalignment caused by robot positioning deviation, and the existing electric slide rail scheme has slow dynamic response and lacks adaptive compensation; (2) the magnetic field coupling is destroyed by the tunnel metal structure and electromagnetic interference, and the traditional magnetic resonance efficiency fluctuates greatly, and the LCC compensation network has not solved the dynamic real-time tuning; (3) fixed charging devices cannot realize synchronous operation charging.

[0005] There are two major technical bottlenecks in the underground tunnel: first, electromagnetic shielding interferes with wireless communication, and the existing acoustic wave scheme has insufficient bandwidth, making it difficult to support high-definition data synchronous transmission; second, the robot energy management system lacks intelligent scheduling, the battery life is short, and the task load is not dynamically matched, resulting in low energy efficiency. Therefore, an integrated underground cable tunnel inspection system with high mobility, adaptive wireless charging, and intelligent energy management is needed, which is combined with dynamic PT symmetry tuning technology to realize real-time matching of transmit-receive end impedance and enhance charging stability in complex electromagnetic environments.

[0006] The application provides an underground cable tunnel inspection robot based on dynamic PT symmetric tuning and a wireless charging system, aiming at solving the above technical problems. Through the adaptive impedance matching mechanism of dynamic PT symmetric tuning, the high-frequency magnetic resonance phase synchronization is ensured; the automatic position adjustment mechanism and the dynamic tuning circuit are adopted, when the robot moves, the charging coil can be real-time aligned and stable energy transmission, avoiding the efficiency decline caused by positioning deviation; the robot shell adopts the combination design of honeycomb aluminum alloy layer and waterproof breathable film, which can shield high-voltage magnetic field interference and prevent water vapor from entering in the humid tunnel; the four-wheel omnidirectional driving system is configured, combined with the lightweight joint module, so that the robot can freely turn in the narrow curve (diameter >= 150mm) and adapt to complex terrain; the multispectral camera, infrared thermometer and gas sensor are integrated, which can automatically identify cable surface cracks, temperature anomalies and harmful gas leakage, and the data is real-time returned through the anti-interference communication module; the built-in battery and capacitor dual power supply intelligently switches the power supply mode according to the task requirement, prolongs the endurance time and reduces the battery loss; the micro-pulse high-pressure cyclone nozzle of the self-cleaning device and the anti-fouling coating work together to prevent the performance degradation caused by the accumulation of dirt on the lens and coil surface. The application simplifies the structure and integrates the functions, ensures the high-precision detection capability, significantly improves the reliability and maintenance convenience of the robot in the humid and strong magnetic interference environment, and provides a low-cost, easy-to-deploy and zero-emission intelligent inspection solution for the underground cable tunnel. SUMMARY

[0007] To solve the above technical problems, the application provides an underground cable tunnel inspection robot based on dynamic PT symmetric tuning and a wireless charging system, aiming at solving the problems of low charging efficiency, electromagnetic interference sensitivity, poor adaptability to complex terrain and high maintenance cost of traditional tunnel inspection robots. The robot system has the characteristics of high-precision detection, adaptive charging, strong anti-interference and low manual intervention, and is suitable for humid, strong magnetic and narrow underground cable tunnel environment, realizing all-weather, all-terrain and full-autonomous intelligent operation and maintenance.

[0008] The application discloses an underground cable tunnel inspection robot based on dynamic PT symmetry tuning and a wireless charging system. The robot is provided with a multispectral imager, a non-contact infrared temperature detector and a gas sensor, can synchronously detect cable surface cracks, insulation layer temperature rise abnormalities and harmful gas leakage such as methane, and can transmit data in real time through an anti-interference sound wave double-mode communication module. The wireless charging system adopts a dynamic PT symmetry resonance topology and a segmented receiving coil group, and is combined with a guide rail type transmitting array, so that energy transmission is realized during the movement of the robot, and the problem of charging interruption caused by position deviation is effectively solved. The specially designed electromagnetic shielding layer and waterproof breather valve structure can stably operate in a strong electromagnetic field and a humid environment. The self-cleaning device is linked with a 360-degree rotating nozzle and a micro high-pressure air pump, and can automatically remove stains on the lens, the sensor and the charging coil, so that long-term maintenance-free operation of the equipment is ensured. The robot system prolongs the endurance time to more than 48 hours through a battery-super capacitor hybrid energy storage architecture, and significantly improves the inspection reliability and endurance capability in a complex humid and electromagnetic environment.

[0009] To achieve the above object, the application provides an underground cable tunnel inspection robot based on dynamic PT symmetry tuning and a wireless charging system, which comprises:

[0010] Preferably, a mobile chassis is provided with an inspection task module, a dynamic energy cabin module, a motor drive module, a power management module and a self-cleaning waterproof module; a control communication module is arranged in the mobile chassis; and an electromagnetic waterproof shell is arranged on both sides of the mobile chassis.

[0011] Preferably, the task inspection module is arranged in the middle of the mobile chassis, is fixed by bolts and is suspended on both sides of the electromagnetic waterproof shell; the task inspection module comprises a multispectral imaging system, a non-contact infrared temperature detector and a UWB positioning beacon module; the multispectral imaging system comprises a ring-shaped LED fill light, a filter ultraviolet camera and a high-definition camera; and the non-contact infrared temperature detector comprises a micro infrared camera and a gas detection sensor.

[0012] Preferably, the dynamic energy cabin module comprises three telescopic array coils, is provided with a plurality of three-degree-of-freedom dynamic compensation platforms, and comprises three groups of Litz wire flat spiral coils and a magnetic fluid buffer layer; and the dynamic compensation platform comprises a pitch-yaw holder and a magnetic fluid buffer layer.

[0013] Preferably, the motor drive module comprises a double permanent magnet synchronous drive motor mounted at the tail of the robot body, the omnidirectional four-wheel drive unit is wrapped with a conductive pressure-sensitive rubber, and the omnidirectional four-wheel drive unit is distributed around the robot body; the motor drive module comprises a double radial telescopic guide rail system, the double radial telescopic guide rail system comprises two carbon fiber guide rails which are parallelly arranged on the central axis of the robot body, and an internal integrated linear motor drive ball and a permanent magnet synchronous drive motor are electrically connected.

[0014] Preferably, the electromagnetic waterproof shell module comprises an outer protective layer, an intermediate shielding layer and an inner waterproof layer; the surface of the outer protective layer is laser etched with a honeycomb-shaped flow guide groove, the intermediate shielding layer is internally provided with a plurality of graphene films, and the inner waterproof layer is formed by thermoplastic polyurethane injection molding.

[0015] Preferably, the self-cleaning waterproof device comprises a 360-degree rotating nozzle array, and the self-cleaning waterproof device is internally provided with a micro high-pressure air pump system; the rotating nozzle array comprises four groups of air curtain nozzles.

[0016] Preferably, the power management module comprises a double-bus redundant power supply mechanism, and the power management module is electrically connected with a dynamic energy cabin module; the double-bus redundant power supply mechanism is composed of a super capacitor module and a lithium battery group.

[0017] Preferably, the control communication module comprises a double-DSP control architecture and a UWB positioning beacon, and the control communication module is signal-connected with a navigation control module; the double-DSP control architecture is composed of a main processor and a coprocessor, and is used for cooperatively completing data fusion and real-time motion control tasks; the UWB positioning beacon comprises a radio frequency transceiver array and a precise clock unit, and realizes centimeter-level positioning accuracy of the robot.

[0018] Compared with the prior art, the application has the following advantages and technical effects: the application discloses an underground cable tunnel inspection robot and a wireless charging system based on dynamic PT symmetry tuning, and an innovative dynamic PT symmetry wireless charging resonance and three-degree-of-freedom adaptive compensation mechanism are cooperatively designed. By collecting load impedance parameters in real time and adjusting the compensation capacitor matrix, the phase synchronous matching of the transmitting end and the receiving coil is realized. Compared with the traditional wireless charging magnetic resonance technology, the wireless charging efficiency is stably improved in a strong electromagnetic interference environment, and the problem of energy transmission interruption caused by the movement offset of the robot is solved. Combined with the guide rail type transmitting array and the segmented receiving coil group, the "energy corridor" mode of the robot is realized for the first time, and the endurance continuity is significantly improved. The robot body adopts a honeycomb-shaped anti-magnetic and waterproof composite shell (graphene coating), and is combined with an omnidirectional four-wheel drive system, so that the robot can safely and stably operate in a narrow and curved underground cable tunnel. The laser etching flow guide groove on the surface of the shell and the built-in waterproof breather valve cooperatively act to effectively block the invasion of water vapor in a humid environment, and can resist high-frequency magnetic field interference. The integrated multi-spectral imaging system and the gas detection and analysis unit can detect millimeter-level cracks, harmful gas leakage and temperature abnormalities on the surface of the cable, and perform multi-parameter synchronous diagnosis. The anti-interference sound wave-millimeter wave dual-mode communication module provides stable bandwidth in an electromagnetic shielding environment, supports synchronous transmission of high-definition images and multi-sensor data, and the detection efficiency is several times higher than that of the traditional scheme. The self-cleaning device drives a 360-degree rotating nozzle array through a miniature high-pressure air pump, and can remove contaminants on the lens, infrared window and coil surface by combining with a hydrophobic and anti-fouling coating. The battery-super capacitor hybrid energy storage architecture can optimize the charging and discharging strategy in real time according to the task load, and can reduce the comprehensive energy consumption. The dual-DSP control architecture (main processor + coprocessor) and the UWB centimeter-level positioning system are adopted to realize multi-modal data fusion and accurate motion control. The electromagnetic waterproof shell, the dynamic energy tank and other core modules support rapid disassembly and assembly, and the maintenance cost is reduced. The system simplifies the structure and integrates the functions, is compatible with the existing tunnel operation and maintenance system, and provides an all-weather, low-intervention and high-reliability integrated intelligent inspection solution for underground cable tunnels.

[0019] The application solves the technical bottlenecks of low charging efficiency, poor environmental adaptability and high maintenance cost of the traditional underground inspection robot by means of dynamic PT tuning, anti-interference structure optimization and intelligent sensing fusion technology, significantly improves the detection accuracy and operation reliability in complex electromagnetic and humid environments, and provides innovative technical support for intelligent operation and maintenance of power tunnels. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of the present application illustrated in the drawings and their descriptions are used to explain the present application and are not intended to limit the present application. In the drawings:

[0021] Figure 1Right side view of the inspection robot and wireless charging system of the present application;

[0022] Figure 2 Right side view of the inspection robot and wireless charging system of the present application;

[0023] Figure 3 Right side view of the inspection robot and wireless charging system of the present application;

[0024] Figure 4 Right side view of the inspection robot and wireless charging system of the present application;

[0025] Figure 5 Right side view of the inspection robot and wireless charging system of the present application;

[0026] Figure 6 Right side view of the inspection robot and wireless charging system of the present application;

[0027] Figure 7 Right side view of the inspection robot and wireless charging system of the present application;

[0028] Figure 8 Right side view of the inspection robot and wireless charging system of the present application.

[0029] In the figure: 1, radial telescopic guide rail; 2, omnidirectional four-wheel drive unit; 3, self-cleaning device; 4, rotating nozzle array; 5, narrowband light filtering ultraviolet camera; 6, multispectral imaging system; 7, dual DSP control module; 8, electromagnetic waterproof shell module (right); 9, motor drive module (permanent magnet synchronous drive motor); 10, telescopic array coil; 11, electromagnetic waterproof shell module (left); 12, non-contact infrared temperature measurement system; 13, UWB positioning beacon; 14, miniature infrared thermal imager; 15, gas detection sensor; 16, high-definition camera; 17, ring-shaped LED fill light; 18, power management module; 19, three-degree-of-freedom dynamic compensation platform; 20, dynamic energy cabin; 21, dual DSP control system. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0032] Refer toFigures 1-7 As shown, the embodiment provides an underground cable tunnel inspection robot based on dynamic PT symmetry tuning and wireless charging system, comprising:

[0033] The mobile chassis is the support and connection frame of the entire robot device, which presents a rectangular honeycomb topology structure, has high strength and light weight characteristics, is made of aluminum alloy-graphene composite material, and enhances the overall structural stability. The mobile chassis is internally integrated with a waterproof and breathable valve and an electromagnetic shielding layer to ensure stable operation of the robot device in a complex electromagnetic environment. The chassis is installed with an omnidirectional four-wheel drive unit (2) at the four corners, which can realize zero radius steering and adapt to narrow and curved underground cable tunnel environment. The chassis is centrally provided with a modular interface, which can quickly disassemble and assemble the inspection task modules (6, 12), dynamic energy cabin modules (20), motor drive modules (9), and self-cleaning protection devices (3), improving the maintenance convenience and functional expansion capability.

[0034] Further optimization scheme, the inspection task module (6, 12) is installed in the middle of the mobile chassis and is fixed by bolts suspended in the electromagnetic waterproof shell modules (8, 11) on both sides; composed of a multispectral imaging system (6) and a non-contact infrared temperature measurement system (12); the multispectral imaging system (6) adopts a high-definition visible light camera (16), an ultraviolet filter camera (5), and an outer ring LED fill light (17), which can accurately detect cable surface cracks, insulation damage, and local discharge traces in a dark underground tunnel environment.

[0035] Further optimization scheme, the non-contact infrared temperature measurement system (12) is equipped with a high-precision infrared thermometer (14), supports multiple detection modes, monitors cable temperature distribution in real time, and identifies cable overheating hazards; the gas detection sensor (15) integrates a gas sensor array, supports concentration detection of multiple harmful gases such as methane, carbon monoxide, oxygen, and sulfur dioxide, and combines with tunnel environment temperature and humidity parameters to predict leakage trends.

[0036] The dynamic energy cabin module (20) adopts a self-adaptive PT symmetry wireless charging system, which aims to improve the energy acquisition efficiency of the inspection robot in a complex environment and ensure stable endurance; the module cooperates with the scalable array coil (10), the three-degree-of-freedom dynamic compensation platform (19), and the magnetic fluid buffer structure (20) to realize efficient wireless energy transmission of the robot in a moving state.

[0037] Further optimization scheme, dynamic energy cabin (20) module integrated three retractable array coil (10), so that the robot can automatically adjust the coil (10) position in different charging scenarios, optimize the energy coupling effect, improve the stability of wireless charging, the retractable array coil (10) adopts Litz line flat spiral coil and magnetic fluid buffer layer (20); Each group of coil is made of multiple thin enameled copper wire parallel winding, which reduces the skin effect and proximity effect, effectively improves the energy transmission efficiency under high frequency electromagnetic field; Flat top structure design ensures that the coil (10) always maintains stable magnetic field coupling with the transmitting coil during charging process, reduces the loss of charging efficiency caused by deviation.

[0038] Further optimization scheme, dynamic energy cabin (20) module combined with dynamic PT symmetry tuning technology, so that the receiving end and the transmitting end keep resonance synchronization, improve the steady-state power transmission capacity of wireless charging system; Wherein the optimization criterion based on structural parameter optimization is:

[0039]

[0040] In the formula, ΔS is the PT symmetry structure mismatch (target value <0.1); d coil The distance between the transmitting and receiving coils (adjust to the best value dynamically); The equivalent dielectric constant; θ tilt The inclination angle of the robot posture; α is the calibration parameter.

[0041] Further optimization scheme, dynamic energy cabin (20) module is installed with several three degree of freedom dynamic compensation platform (19), which can ensure that the wireless charging coil (10) is automatically aligned with the transmitting end during the movement of the robot, and improve the stability of energy transmission; Dynamic compensation platform (19) adopts precision servo control system, combined with inertial navigation and visual positioning, which can adjust the coil angle in real time when the robot moves, and keep the maximum coupling of magnetic field; Wherein the dynamic PT symmetry optimization condition is: the robot motion state (speed V, acceleration a) is related to the coupling coefficient k, and the dynamic balance relationship is established;

[0042]

[0043] Further optimization scheme, by adjusting the transmitting frequency f and the robot motion parameters in real time, maintain dynamic PT symmetry tuning; Wherein the magnetic fluid buffer layer combines the adaptive deformation ability of magnetic fluid, which can automatically adjust the position of the compensation platform during the movement of the robot, reduce the coupling loss caused by vibration and displacement, and effectively reduce the unstable charging problem caused by the bump of the tunnel road surface.

[0044] Motor drive module (9), high-efficiency double permanent magnet synchronous drive motor (9) is adopted, combined with omnidirectional four-wheel drive unit (2) and double radial telescopic guide rail system (1), to ensure that the robot has high mobility and high stability in narrow and complex terrain. The motor drive module (9) includes a double permanent magnet synchronous drive motor (9) installed at the tail of the robot body to provide high-efficiency power output.

[0045] Further optimization scheme, double radial telescopic guide rail system (1) is composed of two high-strength carbon fiber guide rails, which are parallelly arranged on the central axis of the robot body and internally integrated with linear motor driven balls, which are electrically connected with the permanent magnet synchronous drive motor (9); the omnidirectional four-wheel drive unit wheel (2) is wrapped with high-elastic conductive pressure-sensitive rubber, which has the functions of anti-skid damping, anti-static, anti-high-voltage electromagnetic interference, etc., to ensure the safe operation of the robot device in a humid environment.

[0046] Electromagnetic waterproof shell module (8, 11), multi-layer composite shielding and protection design is adopted to ensure that the robot device can operate stably in the underground cable tunnel environment with humidity and electromagnetic interference for a long time; through the synergistic effect of the outer protective layer, the intermediate shielding layer and the inner waterproof layer, the functions of magnetic shielding, waterproof and dustproof, impact resistance and corrosion resistance are realized.

[0047] Further optimization scheme, the outer protective layer is made of high-strength lightweight alloy material (such as aluminum-magnesium alloy or titanium alloy), and the mechanical strength is enhanced by laser etching honeycomb flow guide grooves on the surface; the intermediate shielding layer is made of multi-layer graphene film combined with nano-conductive composite material to build an efficient electromagnetic shielding structure to reduce the influence of electromagnetic interference in the underground cable tunnel on the dynamic energy cabin device of the robot; the inner waterproof layer is made of thermoplastic polyurethane (TPU) injection molding cavity to improve the waterproof performance of the robot device and ensure the long-term operation of the robot in a humid tunnel environment.

[0048] Self-cleaning waterproof device (3) adopts intelligent cleaning and protection technology to ensure that the robot can maintain the cleaning state of the inspection sensor, charging coil and key optical components in a humid and highly polluted underground tunnel environment for a long time, and improve the detection accuracy and wireless charging stability. The device combines high-pressure airflow, air curtain nozzles and hydrophobic and anti-fouling coating to realize efficient automatic cleaning, waterproof and dustproof functions.

[0049] Further optimization scheme, the self-cleaning waterproof device (3) adopts a 360-degree rotating nozzle array (4) to ensure that the surface of the robot and the key sensor area are cleaned without dead angles; the rotating nozzle array (4) includes four groups of independently driven nozzles, which can dynamically adjust the jet angle according to the degree of pollution, and a built-in miniature high-pressure air pump provides stable and high-speed cleaning power for the rotating nozzle array to realize directional cleaning; combined with the nano hydrophobic and anti-fouling coating, the surface protection capability of the equipment is further improved, and the adhesion of pollutants is reduced.

[0050] The power management module (18) adopts a dual-bus redundant power supply architecture, combines a super capacitor module and a lithium battery pack, realizes efficient, stable and intelligent power management, and improves the endurance of the robot in a complex inspection environment; the module is electrically connected with a dynamic energy cabin module through real-time task load optimization of charging and discharging strategies, and ensures high power demand while improving battery life.

[0051] Further optimization scheme, dual-bus redundant power supply architecture adopts dual-channel switching design, ensures continuous and stable power supply under high load or fault conditions; the super capacitor module and the lithium battery pack adopt a lithium battery + super capacitor hybrid energy storage architecture, dynamically adjust the charging and discharging strategy, and reduce the overall energy consumption.

[0052] The control communication module (21) adopts a high-performance dual-DSP control architecture (21) and a high-precision UWB positioning beacon (13) to realize precise motion control, real-time data fusion and efficient information transmission, and ensure that the robot device has high stability, low latency and anti-interference control and communication capabilities in a complex electromagnetic interference environment.

[0053] Further optimization scheme, dual-DSP control architecture (21) is composed of a main processor and a coprocessor, realizes efficient task division, and improves computing power and control accuracy; the UWB positioning beacon (13) adopts a radio frequency transceiver array and a precise clock synchronization unit to realize centimeter-level high-precision positioning and improve the navigation stability of the robot in a complex tunnel environment.

[0054] Method for use:

[0055] When the robot device starts working, the power management module (18) preferentially enables the super capacitor group to perform high-power output, while the lithium battery group enters standby state. The master control DSP (21) calibrates the initial coordinates through the UWB positioning beacon (13), and starts the self-checking program of each module; the multi-spectral imaging system (6) performs current correction, the ultraviolet filter camera (5) switches to a wide dynamic mode, and the non-contact infrared thermometer (12) starts preheating; the omnidirectional four-wheel drive unit (2) advances and retreats and turns through the carbon fiber guide rail according to the planning instructions; the ring-shaped LED fill light (17) is turned on to illuminate the target area, the high-definition camera (16) captures the surface texture at a high frame rate, and cooperates with the infrared sensor (14) to identify cracks; the gas sensor array (15) starts sampling CH4 and CO concentrations, and abnormal data is returned to the control center (21) through anti-interference sound wave communication. When the power is lower than the rated value, the dynamic energy cabin (20) starts the three-degree-of-freedom compensation platform (19), which offsets the robot vibration through the magnetic fluid buffer layer (20), so that the receiving coil (10) and the guide rail emission array maintain the best coupling for wireless charging; the master control DSP (21) calculates the PT symmetry mismatch degree in real time, and dynamically adjusts the resonance frequency to the optimal value; when there is a pollutant attached, the miniature high-pressure air pump (4) drives the rotating nozzle to cooperate with the nano-hydrophobic coating to remove the attached matter; after the inspection task is completed, the power management module (18) dynamically allocates energy according to the remaining power, and the return stage preferentially uses super capacitor power supply to reduce battery cycle loss, and after the robot returns, the PT symmetric tuning unit automatically enters the low-power standby mode.

[0056] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0057] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. A wireless charging system for an underground cable tunnel inspection robot based on dynamic PT symmetric tuning, characterized by, The utility model relates to a kind of mobile chassis, matrix type modular composition, task inspection module, dynamic energy cabin module (20), motor drive module (9), electromagnetic shield shell module, power management module (18) and self-cleaning waterproof device (3) are installed on chassis;The control communication module (21) is installed in the side of electromagnetic shield shell module, and the control communication module (21) is electrically connected with the task inspection module, the dynamic energy cabin module (20), the motor drive module (9), the electromagnetic shield shell module, the power management module (18) and the self-cleaning waterproof device (3);The task inspection module is installed in the middle of the mobile chassis, and is fixed by bolt suspension in the electromagnetic shield shell module on both sides;The task inspection module includes multispectral imaging system, non-contact infrared temperature measurement system and UWB positioning beacon;The multispectral imaging system includes annular LED fill light (17), narrowband filter ultraviolet camera (5) and high-definition camera (16);The non-contact infrared temperature measurement system includes miniature infrared thermal imager (14) and gas detection sensor (15);The dynamic energy cabin module (20) includes three telescopic array coils (10), and the dynamic energy cabin module (20) is installed with several three-degree-of-freedom dynamic compensation platforms (19);The telescopic array coil (10) includes three groups of Litz wire flat spiral coil and magnetic fluid buffer layer;The self-cleaning waterproof device (3) includes 360 degree rotating shower head array (4), and the self-cleaning waterproof device (3) is built-in with miniature high-pressure air pump system. The motor drive module (9) includes double permanent magnet synchronous drive motor and omni-directional four-wheel drive unit (2), the double permanent magnet synchronous drive motor is installed in the tail of robot body, the contour outer layer of the omni-directional four-wheel drive unit (2) is wrapped with conductive pressure-sensitive rubber, and the omni-directional four-wheel drive unit (2) is distributed around the robot body;The motor drive module (9) further includes double radial telescopic guide rail system (1), the double radial telescopic guide rail system (1) includes two carbon fiber guide rails, the carbon fiber guide rails are parallelly arranged in the central axis of robot body, the carbon fiber guide rails are integrated with driving ball screws of linear motor inside, and the driving ball screws of linear motor are electrically connected with the permanent magnet synchronous drive motor.

2. The wireless charging system for the underground cable tunnel inspection robot based on dynamic PT symmetric tuning according to claim 1, characterized in that: The power management module (18) includes double-bus redundant power supply mechanism, and the power management module (18) is electrically connected with the dynamic energy cabin module (20);The double-bus redundant power supply mechanism is composed of super capacitor module and lithium battery pack. 3.The wireless charging system for the underground cable tunnel inspection robot based on dynamic PT symmetric tuning of claim 1, wherein: ​

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