CN103336268A - Induction type non-contact charging position alignment device and method - Google Patents
Induction type non-contact charging position alignment device and method Download PDFInfo
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- CN103336268A CN103336268A CN201310235139XA CN201310235139A CN103336268A CN 103336268 A CN103336268 A CN 103336268A CN 201310235139X A CN201310235139X A CN 201310235139XA CN 201310235139 A CN201310235139 A CN 201310235139A CN 103336268 A CN103336268 A CN 103336268A
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Abstract
The invention discloses an induction type non-contact charging position alignment device which comprises a coarse alignment device, a vehicle-mounted electric energy receiving device, a ground electric energy emission device, an ultrasonic position alignment system and an ultrasonic position alignment processing module, wherein the coarse alignment device comprises a front vehicle-mounted night vision camera, a rear vehicle-mounted night vision camera, a rearview mirror type display, a front ground identifier and a rear ground identifier, the ultrasonic position alignment system comprises an ultrasonic emission sensor, an ultrasonic receiving sensor A, an ultrasonic receiving sensor B, an ultrasonic receiving sensor C, an ultrasonic receiving sensor D, a stepping motor A, a stepping motor B and a mobile platform, and the ultrasonic position alignment processing module comprises a vehicle-mounted processing module and a ground processing module. In the induction type non-contact charging position alignment method, a vehicle-mounted part and a ground part are mutually independent control systems, and interact to complete the position alignment process.
Description
Technical field
The invention belongs to the wireless charging field, relate to a kind of based on the induction type non-contact charge position aligning device of ultrasonic sensor and accordingly to correction method.
Background technology
Along with the continuous development of electric automobile whole technology and key components and parts technology, motorcar electric changes into the development trend for global automobile industry, the main main development trend that adopts the electric energy driven vehicles to become China such as pure electric automobile.
For the popularization of pure electric automobile, the supply of electric energy and to replenish be a significant effects factor, so the selection of battery charge mode is very important.Contactless charging does not need coupling arrangements such as attaching plug, socket, electric wire, and it transmits electric energy by alternating electromagnetic field or radiowave.Compare with traditional contact charging, contactless charging has need not manually plug power connection, save electric wire material, do not have characteristics such as adaptability is strong, easy to operate under the danger of electric shock, the severe weather conditions, is convenient to promote in parking lot and garage large tracts of land.
In contactless charging, inductive charging has advantages such as charge efficiency height, suitable high-power charging, but charging distance is short and need charge coil accurately to aim at.Therefore, make the inductive charging device really be used for engineering and promote, need accurately aim at it.
Both at home and abroad for the research of contactless charging, all concentrate on the power transfer aspect basically, and in fact for a complete wireless charging system, the position aligning device also there is very important influence to charge efficiency at present.
Summary of the invention
To the objective of the invention is in order addressing the above problem, at the requirement of induction type non-contact charge, to the present invention proposes a kind of induction type non-contact charge position aligning device and method thereof.These apparatus and method can be by image sensing device and corresponding sign, realize coarse positioning by the driver, and adopt ultrasonic sensor to judge that by time delay its position aligns degree on this basis, move towards the position of aiming at by microprocessor control step motor-driven coil platform, the requirement of charging system is finished in the final judgement of adopting specific mode to realize and accurately aiming at.This device can also be used for other and need the accurate system of aiming at and guiding.
Induction type non-contact charge of the present invention position aligning device comprises that coarse alignment device, vehicle-mounted electric energy receiving trap, ground electric energy transmission device, ultrasound wave position alignment system and ultrasound wave position align processing module;
The coarse alignment device comprises preceding vehicle-mounted night vision cam, back on-vehicle night vision camera, rear-vision mirror type display screen, preceding land marking symbol, back land marking symbol;
Ultrasound wave position alignment system comprises ultrasound wave emission sensor, ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D, stepper motor A, stepper motor B, mobile platform;
The ultrasound wave position aligns processing module and comprises vehicle-mounted processing module and floor treatment module;
Induction type non-contact charge of the present invention position is to correction method, and vehicle-mounted part and above ground portion are separate control system, and both align process at the completing place that cooperatively interacts;
The invention has the advantages that:
(1) the present invention adopts the position to provide alignment methods to direction-determining board to contactless charging first, for the efficient of induction type non-contact charge provides guarantee, is beneficial to the application of contactless charging.
(2) the present invention adopts first based on the ultrasound wave judgement of time of arrival, for contactless charging provides alignment methods.
(3) method of employing multisensor combination has realized the overall process location aligning of the contactless charging of induction type, realizes coarse positioning by picture signal and land marking, realizes accurate the aligning by ultrasonic sensor on this basis;
(4) adopt the device determine aligned position time of arrival based on judging, effectively reduced the complicacy of hardware system, reduced the cost of system, made that system is easier to be built and realize, can also improve the reliability of system simultaneously;
(5) adopted first based on the special geometric of circular array and arranged,, can realize accurately aiming at judging again in conjunction with corresponding disposal route by this geometric arrangement.Because this is arranged in when judging final alignment, three sensors of minimum needs just can be realized aiming at and judge simultaneously;
(6) pass through in conjunction with mobile platform, native system can be realized accurate aligning, really makes the efficient of charging device reach maximum.
Description of drawings
Fig. 1: the structural representation of induction type non-contact charge of the present invention position aligning device;
Fig. 2: ultrasound wave of the present invention position alignment system synoptic diagram;
Fig. 3: ultrasound wave of the present invention position aligns the processing module diagram;
Fig. 4: the general flow chart that aligns of the present invention;
Fig. 5: the system layout scheme synoptic diagram of the embodiment of the invention;
Among the figure:
001-on-vehicle night vision camera 002-on-vehicle night vision camera 003-land marking symbol
The vehicle-mounted electric energy receiving trap of 004-land marking symbol 005-rear-vision mirror type display screen 006-
007-ground electric energy transmission device
The vehicle-mounted processing module 103-ultrasound wave emission of 101-ultrasound wave emission sensor 102-ultrasound wave processing circuit module
The vehicle-mounted segment processor of the driver-commanded load module 106-of 104-vehicle-carrying communication module 105-
107-shows output module
201-ultrasound wave receiving sensor A 202-ultrasound wave receiving sensor B 203-ultrasound wave receiving sensor C
204-ultrasound wave receiving sensor D 205-ultrasound wave floor treatment module 206-stepper motor A
207-stepper motor B 209-mobile platform 210-ground communication module
211-ultrasound wave receiving processing circuit modules A
212-ultrasound wave receiving processing circuit module B
213-ultrasound wave receiving processing circuit module C
214-ultrasound wave receiving processing circuit module D
215-above ground portion processor 216-motor drive module
Embodiment
The present invention is described in detail below in conjunction with accompanying drawing.
Induction type non-contact charge of the present invention position aligning device as shown in Figure 1, comprises that coarse alignment device, vehicle-mounted electric energy receiving trap 006, ground electric energy transmission device 007, ultrasound wave position alignment system and ultrasound wave position align processing module;
The coarse alignment device comprises preceding vehicle-mounted night vision cam 001, back on-vehicle night vision camera 002, rear-vision mirror type display screen 005, preceding land marking symbol 003, back land marking symbol 004;
Preceding land marking symbol 003, back land marking symbol 004 lay respectively at the both sides of ground electric energy transmission device 007, preceding vehicle-mounted night vision cam 001, back on-vehicle night vision camera 002 are gathered the forward and backward image of automobile respectively, image is transferred to rear-vision mirror type display screen 005, rear-vision mirror type display screen 005 is provided with forward and backward identifier, when the forward and backward identifier of rear-vision mirror type display screen 005 and preceding land marking symbol 003, when back land marking symbol 004 forms the geometric relationship of setting, vehicle-mounted electric energy receiving trap 006 aligns with ground electric energy transmission device 007, finishes coarse alignment.
Vehicle-mounted night vision cam 001, back on-vehicle night vision camera 002 are the night vision type before described, and assurance apparatus of the present invention also can be used at insufficient light or in night, because for the normal domestic use electric automobile, its duration of charging is generally at night.
Described rear-vision mirror type display screen 005 serves as the rearview mirror use at ordinary times, only just show as display screen when enabling collision avoidance radar or charging positioning system.
The forward and backward identifier of described rear-vision mirror type display screen 005 is solid cross pattern, and solid cross pattern is corresponding with hollow cross pattern.
The driver accords with 004 geometric relationship that forms by forward and backward identifier and preceding land marking symbol 003, the back land marking of rear-vision mirror type display screen 005, automobile is parked in certain scope, vehicle-mounted electric energy receiving trap 006 is alignd with ground electric energy transmission device 007, finish the coarse alignment of 006 vehicle-mounted electric energy receiving trap and 007 ground electric energy transmission device.
Vehicle-mounted electric energy receiving trap 006 and ground electric energy transmission device 007 are the main parts of wireless charging, and wherein vehicle-mounted electric energy receiving trap 006 has comprised that electric energy receiving coil (not shown), wireless charging receiving end control circuit (not shown), ultrasound wave emission sensor 101(are arranged in the electric energy receiving coil in the heart), the vehicle-mounted processing module 102 of ultrasound wave; Ground electric energy transmission device 007 comprises that electric energy transmitting coil (not shown), wireless charging transmitting terminal control circuit (not shown), ultrasound wave receiving sensor (comprise ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204, be positioned in the middle of the electric energy transmitting coil, be arranged concentric with the electric energy transmitting coil), ultrasound wave floor treatment module 205.
As shown in Figure 2, ultrasound wave position alignment system comprises ultrasound wave emission sensor 101, ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204, stepper motor A206, stepper motor B207, mobile platform 209;
Ultrasound wave emission sensor 101 is positioned on the vehicle-mounted electric energy receiving trap 006, and ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 are positioned on the ground electric energy transmission device 007.Ground electric energy transmission device 007 is positioned on the mobile platform 209.
Ultrasound wave emission sensor 101 is positioned at the receiving coil center of vehicle-mounted electric energy receiving trap 006 inside, character by circle can learn that the center of circle determines the position of circle, therefore, in case know the position of ultrasound wave emission sensor 101, also just known the position of receiving coil.
Ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 lay respectively on the concentric circles of transmitting coil of ground electric energy transmission device 007 inside, evenly arrange.
In common ultrasonic positioning system, because hyperacoustic velocity of sound is subjected to the influence of air temperature and current, and the influence etc. that is subjected to ultrasonic signal intensity when detecting ultrasonic signal, systematic error is difficult to eliminate.But in apparatus of the present invention, adopted special sensor arrangement, be about to the center of circle that ultrasound wave emission sensor 101 is arranged in vehicle-mounted electric energy receiving trap 006 receiving coil, with ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, the ultrasound wave receiving sensor D204 arranged in concentric circles along ground electric energy transmission device 007 transmitting coil, make in the process that device is aimed at, the negative effect that these error effect factors are brought can be offset automatically, thereby has very high precision when making final alignment.
The characteristics of this layout are:
1, when final alignment, because ultrasound wave emission sensor 101 equates all with the distance of ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 that respectively its position is the centrum of rule.Therefore, ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 receive on the time theory of signal in full accord, not needing to carry out matrix operation can reach a conclusion, and can eliminate the error of calculation that sonic velocity change is brought.
During 2, owing to final alignment, ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 are almost completely consistent with the relative position of ultrasound wave emission sensor 101 respectively, therefore the signal intensity that receives of ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 is also identical, can not cause the detection error owing to the difference of signal intensity.
During 3, owing to final alignment, it is identical that ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 receive the time of ultrasonic signal, as long as therefore finally have three ultrasound wave receiving sensor operate as normal can judge whether aim in theory.
4, for the system by DTOA algorithm compute location, it is very big in some site error, even can't find the solution the location.Among the present invention, will be on time, ultrasound wave emission sensor 101 just in time levels off to the center line of ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204, the sensitive position that belongs to this algorithm uses this location algorithm gained matrix morbid state.Use this aligning to judge, just remedy the deficiency of algorithm.
5, by this layout and corresponding position to correction method, saved circuit and calculating such as a large amount of location Calculation and the velocity of sound compensation that increases in order to improve computational accuracy, intensity compensation, effectively reduced the cost of system, reduced the complexity of system.
Described ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 are according to connecing arranged in squares (circumferencial direction quartern layout) in the circle, as shown in Figure 2, circular diameter is preferably between 5cm-15cm; The diameter of ground electric energy transmission device 007 transmitting coil about 80cm, and automobile chassis liftoff be 12-18cm.The ultrasonic intensity that ultrasound wave emission sensor 101 is sent is in its dead ahead maximum, and along with departing from of angle, intensity can reduce, and the ultrasound wave receiving sensor receives the intensity of signal and also obeys this rule.Therefore, if the ultrasound wave receiving sensor arrange apart from too far away, then may be owing to a little less than angle causes the ultrasonic intensity that receives too too partially, thus have influence on hyperacoustic detection.
Ground electric energy transmission device 007 is positioned on the mobile platform 209, mobile platform 209 adopts the ball screw structure, stepper motor A206, stepper motor B207 is connected on mobile platform 209 orthogonal two limits, because 007 fixed thereon of ground electric energy transmission device, so ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 also is located thereon (ultrasound wave receiving sensor A201 wherein, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 is round inscribed quadrilateral and arranges, be positioned in the middle of the electric energy transmitting coil of ground, concentric with ground electric energy transmitting coil).If make mobile platform 209 translations, then electric energy transmission device 007 internal emission line circle in ground will be followed it and be moved, the ultrasonic signal that receives in real time by ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 device judges as feedback whether its position is aimed at simultaneously.
Stepper motor A206, stepper motor B207 is the mobile execution module of alignment system, floor treatment module 205 is according to ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 receives the direction of the time judgement mobile platform 209 required displacements of signal, send the series of pulses signal, drive stepper motor A206 by motor drive module 216, stepper motor B207, stepper motor A206, a step angle is then rotated in pulse of the every acquisition of stepper motor B207, be the translation of mobile platform 209 by the ball screw thaumatropy, thereby realized the control of 205 pairs of mobile platforms 209 of floor treatment module.
For the consideration to charge efficiency, may carry out certain repacking to this device, but be by the control of a mobile platform is realized the movement of charge coil in essence, thereby finish the accurate aligning to coil.
As shown in Figure 3, the ultrasound wave position aligns processing module and comprises vehicle-mounted processing module 102 and floor treatment module 205;
Vehicle-mounted processing module 102 comprises ultrasound wave emission processing circuit module 103, vehicle-carrying communication module 104, driver-commanded load module 105, vehicle-mounted segment processor 106, shows output module 107; Vehicle-mounted processing module 102 is positioned on the vehicle-mounted electric energy receiving trap 006; Vehicle-mounted processing module 102 is mainly born and is produced that ultrasound wave transmits, the function of man-machine interaction and communication;
Vehicle-carrying communication module 104 is carried out communication by wireless with communication module 210, when device starts, vehicle-carrying communication module 104 transfers to ground communication module 210 with the signal of vehicle-mounted segment processor 106 outputs, ground communication module 210 exports signal to earth module microprocessor 215, and earth module processor 215 is waken up.Finish when setting position aligns, the information feedback that ground communication module 210 will have been aimed at is to vehicle-carrying communication module 104;
Vehicle-mounted segment processor 106 produces the ultrasonic pulse signal of a series of 40kHz every the regular hour, and this signal is produced by software programming and regularly interrupts realizing.The signal that is produced by vehicle-mounted segment processor 106 is generally 5v left and right sides low-voltage signal, this signal can't drive all-sealed ultrasound wave emission sensor 101 and produce enough strong ultrasonic signal, undertaken obtaining a signal about 60v after voltage amplification, the electric current amplification by ultrasound wave emission processing circuit module 103, drive the ultrasonic signal that ultrasound wave emission sensor 101 produces sufficient intensities.
Driver-commanded load module 105 is used for driver's startup/stop control command inputing to vehicle-mounted segment processor 106.
Show that output module 107 transfers to rear-vision mirror type display screen 005 with solid cross image (being used for and the ground image coupling).
When ultrasound wave emission sensor 101 is sent ultrasonic signal, ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 is received ultrasonic signal respectively, and, respectively the ultrasonic signal that receives is exported to ultrasound wave receiving processing circuit modules A 211, ultrasound wave receiving processing circuit module B212, ultrasound wave receiving processing circuit module C213, ultrasound wave receiving processing circuit module D214, ultrasound wave receiving processing circuit modules A 211, ultrasound wave receiving processing circuit module B212, ultrasound wave receiving processing circuit module C213, signal amplification that ultrasound wave receiving processing circuit module D214 is all integrated, filtering, decoupling zero, functions such as gate circuit, ultrasonic signal can be extracted and analyzes from the carrier signal of 40kHz, finally obtain a low level signal, the negative edge of this signal has represented the time of reception point, export the signal that obtains to above ground portion processor 215, the signal of each ultrasound wave processing circuit module output is received by an I/O port of above ground portion processor 215.
Above ground portion processor 215 is born main control function, it scans the negative edge signal of each I/O port repeatedly to handling from the signal of ultrasound wave receiving processing circuit modules A 211, ultrasound wave receiving processing circuit module B212, ultrasound wave receiving processing circuit module C213, ultrasound wave receiving processing circuit module D214 input.Each negative edge signal namely represents the time that ultrasound wave arrives each receiving sensor, and above ground portion processor 215 draws mobile platform 209 required sense of displacement by the judgement of time to received signal, and sends thus and control signal to motor drive module 216.Motor drive module 216 drives stepper motor A206, stepper motor B207 action respectively according to control signal, makes mobile platform 209 move, and electric energy transmitting coil and electric energy receiving coil are aligned.Its criterion that aligns is that the negative edge that above ground portion processor 215 each ports receive arrived in the same scan period, thought that namely two coils align.
Induction type non-contact charge of the present invention position is to correction method, flow process as shown in Figure 4, vehicle-mounted part and above ground portion are separate control system, both align process at the completing place that cooperatively interacts.
(a) vehicle-mounted part
Step 1: when electric automobile arrives the wireless charging station, open preceding vehicle-mounted night vision cam 001, back on-vehicle night vision camera 002 and rear-vision mirror type display screen 005 by the driver by button, can observe ground index line mark this moment by rear-vision mirror type display screen 005.Driver's electric vehicle drive reaches preposition according to ground index line mark, in the hollow cross of land marking symbol 003, back land marking symbol 004, finishes coarse positioning before the solid cross in location on the screen just drops at this moment.
Step 2: after the driver uses the image sign that electric automobile is finished coarse alignment, start the vehicle-mounted processing module 102 of ultrasound wave.Vehicle-mounted part microprocessor 106 sends to ground communication module 209 by vehicle-carrying communication module 104 with enabling signal, is input to above ground portion microprocessor 206 by ground communication module 209 again, and it is waken up, starts ultrasound wave floor treatment module 205.
Step 3: ultrasound wave emission sensor 101 is sent ultrasonic signal by vehicle-mounted part microprocessor 106 controls.Vehicle-mounted part microprocessor 106 sends a series of square wave electric signal at regular intervals by control program.This signal enters ultrasound wave emission sensor 101 after amplifying by ultrasonic transmit circuit module 103, by the piezoelectric effect generation ultrasonic signal of ultrasound wave emission sensor 101.
Step 4: vehicle-mounted part microprocessor 106 is monitored the look-at-me of vehicle-carrying communication module 104 in the emission ultrasonic signal, this signal represents the position process that aligns and finishes.Vehicle-mounted part microprocessor 106 receives after this signal, namely finishes hyperacoustic emission, closes positioning system.
(b) above ground portion
Step 1: ground processing module 205 is namely started working after waking up by ground communication module 210.At this moment, the ultrasonic signal that sends of ultrasound wave emission sensor 101 is converted into electric signal by piezoelectric effect equally by ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, the ultrasound wave receiving sensor D204 of above ground portion.The signal that ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 receive is a series of pulse signals that reduce gradually again that increase gradually, and along with the variation of distance and angle, its signal intensity also changes.After this signal is handled by ultrasound wave receiving processing circuit modules A 211, ultrasound wave receiving processing circuit module B212, ultrasound wave receiving processing circuit module C213, ultrasound wave receiving processing circuit module D214 respectively, obtain a low level signal, and be transported to above ground portion processor 215 and handle.This signal negative edge represented time of received ultrasonic signal, above ground portion processor 215 is determined the orientation of mobile platform 209 by the processing to time of reception, and by control step motor A206, stepper motor B207 action, it is aimed at gradually.Its detailed process is as follows:
Ultrasound wave emission sensor 101 is arranged in vehicle-mounted electric energy receiving trap 006 transmitting coil center, and its coordinate has represented the current location of vehicle body coil.Ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 are positioned on the ground electric energy transmission device 007, rounded layout, its center of circle is concentric with the receiving coil in the ground electric energy transmission device 007.
Ultrasound wave emission sensor 101 periodically to around launch ultrasonic signal, this ultrasonic signal is received by ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204, after by ultrasound wave receiving processing circuit modules A 211, ultrasound wave receiving processing circuit module B212, ultrasound wave receiving processing circuit module C213, ultrasound wave receiving processing circuit module D214 amplification filtering, collect above ground portion processor 215 analyzing and processing.Because ultrasound wave emission sensor 101 is different apart from the distance of each receiver, it is also inequality that each receiver receives time of signal.Suppose to receive signal earlier by ultrasound wave receiving sensor A201, and then, all the other each receivers also receive signal successively.Above ground portion processor 215 respectively receives the I/O port of signal by scanning, thereby can obtain the time of arrival that each ultrasound wave receiving sensor receives signal.Can distance and time relation according to following formula:
d＝vt (1)
Wherein d is the distance of ultrasound wave emission sensor to the ultrasound wave receiving sensor, and v is the velocity of sound, and t is for being transmitted into the time that the ultrasound wave receiving sensor receives from the ultrasound wave emission sensor.Because the location aware of each ultrasound wave receiving sensor, therefore the ultrasound wave receiving sensor nearest apart from the ultrasound wave emission sensor receives ultrasonic signal at first, farthest must receive ultrasonic signal at last.In addition, time of reception differs the perpendicular bisector of very short two ultrasound wave receiving sensors, with the distance of ultrasound wave emission sensor must be nearest.These movements of analyzing to above ground portion processor 215 control mobile platforms 209 provide theoretical foundation.
Step 2: above ground portion processor 215 receives priority time of arrival of signal by judging each ultrasound wave receiving sensor, determines the relative position of earth module and vehicle-mounted module.Drive stepper motor A206, stepper motor B207 by motor drive module 216, mobile mobile platform 209, the direction that the transmitting coil in the vehicle-mounted electric energy receiving trap 006 of receiving coil in the ground electric energy transmission device 007 is aimed at moves.The variation of its real time position feeds back to above ground portion processor 215 by the time of arrival of ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203, ultrasound wave receiving sensor D204 reception signal again, thereby has formed the control system of a closed loop.Above ground portion processor 215 arrives the mistiming by adjusting, and final the realization accurately aimed at.
The method of mobile ground electric energy transmission device 007 has a variety of, such as can moving on its perpendicular bisector along the line direction that is parallel to certain two ultrasound wave receiving sensor earlier, and then moves on its center of gravity.Also can be directly along time of arrival most end the direction of ultrasound wave receiving sensor move, become the ultrasound wave receiving sensor that most end receives time signal until another one ultrasound wave receiving sensor.
This alignment procedures can also realize in proper order by other, but in general, its core is to judge the orientation of earth module by the time of reception of each ultrasound wave receiving sensor, and the mobile ground module aligns again.
Embodiment:
As shown in Figure 5, the another kind of arrangement of the ultrasonic sensor of this position alignment system, its corresponding treatment circuit can deduct a cover ultrasound wave receiving sensor on the basis of Fig. 3 and corresponding treatment circuit gets final product.
In example two ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203 be arranged in the concentric circle of the transmitting coil of ground electric energy transmission device 007 on, be and connect equilateral triangle in round and arrange.Ultrasound wave emission sensor 101 is launched ultrasonic signal equally at a certain time interval, ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203 receive after the signal, transfer signals to ultrasound wave receiving processing circuit modules A 211, ultrasound wave receiving processing circuit module B212, ultrasound wave receiving processing circuit module C213 sensor treatment circuit, obtain a look-at-me by processing circuit processes and be transferred to above ground portion processor 215.The above ground portion processor is judged the time that each ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203 receive by each look-at-me, thereby judges the orientation of mobile platform 209.
Supposing that ultrasound wave receiving sensor A201 receives signal at first, and then is ultrasound wave receiving sensor B202, and most end is ultrasound wave receiving sensor C203.This moment, above ground portion processor 215 moved the direction of mobile platform 209 along the parallel direction of ultrasound wave receiving sensor A201 and ultrasound wave receiving sensor C203 line towards ultrasound wave receiving sensor A201 by driving stepper motor A206, stepper motor B207.When after certain distance, ultrasound wave receiving sensor A201 reaches consistent with the time that ultrasound wave receiving sensor C203 receives signal.This moment ultrasound wave receiving sensor B202 receive time of signal may be before ultrasound wave receiving sensor A201 and ultrasound wave receiving sensor C203, also may be thereafter.When before it, the direction of mobile mobile platform 209 along the direction of ultrasound wave receiving sensor A201 and ultrasound wave receiving sensor C203 perpendicular bisector towards ultrasound wave receiving sensor B202 place moves, and receives the time unanimity of signal until ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202, ultrasound wave receiving sensor C203.When after it, the mobile ground module moves towards the direction that deviates from ultrasound wave receiving sensor B202 along the direction of ultrasound wave receiving sensor A201 and ultrasound wave receiving sensor C203 perpendicular bisector, receives the time unanimity of signal until receiving sensor ultrasound wave receiving sensor A201, ultrasound wave receiving sensor B202,203.At this moment, earth module is realized accurately aiming at vehicle-mounted module.
This alignment procedures also can realize by other step, but in general, its core is to judge the orientation of earth module by the time of reception of each ultrasound wave receiving sensor, and the mobile ground module realizes aiming at again.
The above only is preferred embodiments of the present invention, also can realize by increasing ultrasound wave emission sensor and receiving sensor and changing certain layout, but its core concept all realizes aiming at based on judgement and mobile ground module to the sensor time of reception.
Claims (8)
1. induction type non-contact charge position aligning device comprises that coarse alignment device, vehicle-mounted electric energy receiving trap, ground electric energy transmission device, ultrasound wave position alignment system and ultrasound wave position align processing module;
The coarse alignment device comprises preceding vehicle-mounted night vision cam, back on-vehicle night vision camera, rear-vision mirror type display screen, preceding land marking symbol, back land marking symbol;
Preceding land marking symbol, back land marking symbol lay respectively at the both sides of ground electric energy transmission device, preceding vehicle-mounted night vision cam, back on-vehicle night vision camera are gathered the forward and backward image of automobile respectively, image is transferred to the rear-vision mirror type display screen, the rear-vision mirror type display screen is provided with forward and backward identifier, when the forward and backward identifier of rear-vision mirror type display screen and preceding land marking symbol, when back land marking symbol forms the geometric relationship of setting, vehicle-mounted electric energy receiving trap aligns with the ground electric energy transmission device, finishes coarse alignment;
Ultrasound wave position alignment system comprises ultrasound wave emission sensor, ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D, stepper motor A, stepper motor B, mobile platform;
The ultrasound wave emission sensor is positioned at the receiving coil center of vehicle-mounted electric energy receiving trap inside, ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D lay respectively on the concentric circles of transmitting coil of electric energy transmission device inside, ground, evenly arrange; Described ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D are according to connecing arranged in squares in the circle;
The ground electric energy transmission device is positioned on the mobile platform, and mobile platform adopts the ball screw structure, and stepper motor A, stepper motor B are connected on orthogonal two limits of mobile platform;
The ultrasound wave position aligns processing module and comprises vehicle-mounted processing module and floor treatment module;
Vehicle-mounted processing module comprises ultrasound wave emission processing circuit module, vehicle-carrying communication module, driver-commanded load module, vehicle-mounted segment processor, shows output module; Vehicle-mounted processing module is positioned on the vehicle-mounted electric energy receiving trap;
The vehicle-carrying communication module is carried out communication by wireless with communication module, when device starts, the vehicle-carrying communication module transfers to the ground communication module with the signal of vehicle-mounted segment processor output, and the ground communication module exports signal to the earth module microprocessor, and the earth module processor is waken up; Finish when setting position aligns, the information feedback that the ground communication module will have been aimed at is to the vehicle-carrying communication module;
Vehicle-mounted segment processor produces ultrasonic pulse signal, and ultrasonic pulse signal carries out voltage amplification, electric current amplification by ultrasound wave emission processing circuit module, drives the ultrasound wave emission sensor and produces ultrasonic signal;
Driver-commanded load module is used for driver's startup/stop control command inputing to vehicle-mounted segment processor;
Show that output module will transfer to the rear-vision mirror type display screen for the image with the ground image coupling;
The floor treatment module comprises ground communication module, ultrasound wave receiving processing circuit modules A, ultrasound wave receiving processing circuit module B, ultrasound wave receiving processing circuit module C, ultrasound wave receiving processing circuit module D, above ground portion processor, motor drive module; The floor treatment module is positioned on the electric energy transmission device of ground;
Ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D is received ultrasonic signal respectively, respectively the ultrasonic signal that receives is exported to ultrasound wave receiving processing circuit modules A, ultrasound wave receiving processing circuit module B, ultrasound wave receiving processing circuit module C, ultrasound wave receiving processing circuit module D, ultrasound wave receiving processing circuit modules A, ultrasound wave receiving processing circuit module B, ultrasound wave receiving processing circuit module C, ultrasound wave receiving processing circuit module D obtains a low level signal respectively, the negative edge of this signal has represented the time of reception point, export the signal that obtains to the above ground portion processor, the signal of each ultrasound wave processing circuit module output is received by an I/O port of above ground portion processor;
215 pairs of above ground portion processors are from ultrasound wave receiving processing circuit modules A, ultrasound wave receiving processing circuit module B, ultrasound wave receiving processing circuit module C, the signal of ultrasound wave receiving processing circuit module D input is handled, scan the negative edge signal of each I/O port repeatedly, each negative edge signal represents the time that ultrasound wave arrives each receiving sensor, the above ground portion processor is by the judgement of time to received signal, draw the required sense of displacement of mobile platform, and send thus and control signal to motor drive module, motor drive module drives stepper motor A respectively according to control signal, stepper motor B action, make mobile platform move, electric energy transmitting coil and electric energy receiving coil are aligned, its criterion that aligns is, the negative edge that each port of above ground portion processor receives arrived in the same scan period, thought that namely two coils align.
2. induction type non-contact charge according to claim 1 position aligning device, described before vehicle-mounted night vision cam, back on-vehicle night vision camera be the night vision type.
3. induction type non-contact charge according to claim 1 position aligning device, described rear-vision mirror type display screen use serving as rearview mirror at ordinary times, only just show as display screen when enabling collision avoidance radar or charging positioning system.
4. induction type non-contact charge according to claim 1 position aligning device, described before land marking symbol, back land marking symbol be hollow cross pattern.
5. induction type non-contact charge according to claim 1 position aligning device, the forward and backward identifier of described rear-vision mirror type display screen is solid cross pattern, solid cross pattern is corresponding with hollow cross pattern.
6. induction type non-contact charge according to claim 1 position aligning device, described ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D are according to connecing arranged in squares in the circle, and circular diameter is preferably between 5cm-15cm.
7. induction type non-contact charge according to claim 1 position aligning device, include only three ultrasound wave receiving sensors in the described floor treatment module, be respectively ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, three ultrasound wave receiving sensors be arranged in the concentric circle of the transmitting coil of ground electric energy transmission device on, be and connect equilateral triangle in round and arrange.
8. induction type non-contact charge position is to correction method, and vehicle-mounted part and above ground portion are separate control system, and both align process at the completing place that cooperatively interacts;
(a) vehicle-mounted part
Step 1: when electric automobile arrives the wireless charging station, open preceding vehicle-mounted night vision cam, back on-vehicle night vision camera and rear-vision mirror type display screen by the driver by button, observe ground index line by the rear-vision mirror type display screen and mark this moment; Driver's electric vehicle drive reaches preposition according to ground index line mark, in the hollow cross of land marking symbol, back land marking symbol, finishes coarse positioning before the solid cross in location on the screen just drops at this moment;
Step 2: after the driver uses the image sign that electric automobile is finished coarse alignment, start the vehicle-mounted processing module of ultrasound wave; Vehicle-mounted part microprocessor sends to the ground communication module by the vehicle-carrying communication module with enabling signal, is input to the above ground portion microprocessor by the ground communication module again, and it is waken up, starts ultrasound wave floor treatment module;
Step 3: the ultrasound wave emission sensor is sent ultrasonic signal by vehicle-mounted part microprocessor control; Vehicle-mounted part microprocessor sends a series of square wave electric signal at regular intervals by control program; This signal enters the ultrasound wave emission sensor after amplifying by the ultrasonic transmit circuit module, by the piezoelectric effect generation ultrasonic signal of ultrasound wave emission sensor;
Step 4: vehicle-mounted part microprocessor is monitored the look-at-me of vehicle-carrying communication module in the emission ultrasonic signal, this signal represents the position process that aligns and finishes; Vehicle-mounted part microprocessor receives after this signal, namely finishes hyperacoustic emission, closes positioning system;
(b) above ground portion
Step 1: the ground processing module is namely started working after waking up by the ground communication module; At this moment, the ultrasonic signal that the ultrasound wave emission sensor is sent is received by ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, the ultrasound wave receiving sensor D of above ground portion, after handling by ultrasound wave receiving processing circuit modules A, ultrasound wave receiving processing circuit module B, ultrasound wave receiving processing circuit module C, ultrasound wave receiving processing circuit module D respectively, obtain a low level signal respectively, and be transported to the above ground portion processor and handle; Low level signal negative edge represented time of received ultrasonic signal, the above ground portion processor is determined the orientation of mobile platform by the processing to time of reception, and by control step motor A, stepper motor B action, it is aimed at gradually; Its detailed process is as follows:
The ultrasound wave emission sensor is arranged in vehicle-mounted electric energy receiving trap transmitting coil center, and its coordinate has represented the current location of vehicle body coil; Ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D are positioned on the electric energy transmission device of ground, rounded layout, and its center of circle is concentric with the receiving coil in the electric energy transmission device of ground;
The ultrasound wave emission sensor periodically to around launch ultrasonic signal, this ultrasonic signal is received by ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D, after by ultrasound wave receiving processing circuit modules A, ultrasound wave receiving processing circuit module B, ultrasound wave receiving processing circuit module C, ultrasound wave receiving processing circuit module D amplification filtering, collect above ground portion processor analyzing and processing; Because the ultrasound wave emission sensor is different apart from the distance of each receiver, it is also inequality that each receiver receives time of signal; Suppose to receive signal earlier by ultrasound wave receiving sensor A, and then, all the other each receivers also receive signal successively; The above ground portion processor respectively receives the I/O port of signal by scanning, thereby obtains the time of arrival that each ultrasound wave receiving sensor receives signal; Can distance and time relation according to following formula:
d＝vt (1)
Wherein d is the distance of ultrasound wave emission sensor to the ultrasound wave receiving sensor, and v is the velocity of sound, and t is for being transmitted into the time that the ultrasound wave receiving sensor receives from the ultrasound wave emission sensor; Because the location aware of each ultrasound wave receiving sensor, therefore the ultrasound wave receiving sensor nearest apart from the ultrasound wave emission sensor receives ultrasonic signal at first, farthest must receive ultrasonic signal at last; In addition, time of reception differs the perpendicular bisector of very short two ultrasound wave receiving sensors, with the distance of ultrasound wave emission sensor must be nearest;
Step 2: the above ground portion processor receives priority time of arrival of signal by judging each ultrasound wave receiving sensor, determines the relative position of earth module and vehicle-mounted module; Drive stepper motor A, stepper motor B by motor drive module, mobile mobile platform, the direction that the transmitting coil in the vehicle-mounted electric energy receiving trap of receiving coil in the electric energy transmission device of ground is aimed at moves; The variation of its real time position feeds back to the above ground portion processor by the time of arrival of ultrasound wave receiving sensor A, ultrasound wave receiving sensor B, ultrasound wave receiving sensor C, ultrasound wave receiving sensor D reception signal again, has formed the control system of closed loop; The above ground portion processor arrives the mistiming by adjusting, and final the realization accurately aimed at.
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