A Modular Reconfigurable Wireless Power Transfer System With Multiple Hybrid Outputs for Pipeline Inspection Robots

For urban pipelines, in-pipe robots are used for routine maintenance and inspection, but they are difficult to charge. To address this need, this article proposes a modular reconfigurable wireless power transfer (WPT) system with multiple constant-voltage (CV) and constant-current (CC) hybrid outputs. The proposed system consists of a power module and several load modules in cascade, with each load module not only acting as a receiver to provide power to the output but also acting as the power relay to transfer energy to the succeeding modules. The introduction of a reconfigurable structure allows the loads to achieve a CV output or a CC output independently, while realizing zero voltage switching and high efficiency. Various decoupling methods are utilized to integrate the compensation inductors into the couplers. A WPT experimental prototype is constructed to verify the feasibility of the proposed system. The output has the capability to achieve a CV output or a CC output, with a maximum fluctuation rate of 2.88% and a maximum efficiency of over 97%.