CN110293861B - Capacitive coupling type automatic wireless charging system and charging method for electric automobile - Google Patents

Capacitive coupling type automatic wireless charging system and charging method for electric automobile Download PDF

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Publication number
CN110293861B
CN110293861B CN201910743647.6A CN201910743647A CN110293861B CN 110293861 B CN110293861 B CN 110293861B CN 201910743647 A CN201910743647 A CN 201910743647A CN 110293861 B CN110293861 B CN 110293861B
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China
Prior art keywords
transmitting
radio frequency
communication controller
unit
receiving
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CN201910743647.6A
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Chinese (zh)
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CN110293861A (en
Inventor
王哲
陆钧
贺凡波
葛俊杰
马俊超
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Hefei Yougan Technology Co ltd
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Hefei Yougan Technology Co ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/05—Circuit arrangements or systems for wireless supply or distribution of electric power using capacitive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The capacitive coupling type automatic wireless charging system and the charging method for the electric automobile comprise the following steps: a charging transmitting platform and a vehicle-mounted receiving device; the charging and transmitting platform comprises: the device comprises a transmitting unit, a transmitting power cabinet, a mechanical arm and a mobile chassis; the tail end of the mechanical arm is arranged above the emission power cabinet; the transmitting power cabinet is arranged above the mobile chassis; the transmitting unit is arranged at the front end of the mechanical arm, and a radio frequency reader, a photoelectric switch transmitter and two transmitting polar plates are arranged at the center of the transmitting unit; according to the invention, alignment between the coupling mechanisms of the transmitting end and the receiving end is realized without manual driving or automatic parking, and the electric automobile to be charged is stopped at the designated parking space position, so that the actions can be completed through the charging transmitting platform and the multi-degree-of-freedom mechanical arm carried by the charging transmitting platform, and the problems that the coil alignment is required for wireless charging of the electric automobile and the operation is inconvenient are solved, so that the safe operation of the system can be ensured, and the high transmission efficiency can be obtained.

Description

Capacitive coupling type automatic wireless charging system and charging method for electric automobile
Technical Field
The invention relates to the technical field of wireless charging of electric automobiles, in particular to an automatic wireless charging system and a charging method for a capacitive coupling type electric automobile.
Background
The non-contact wireless charging technology has the characteristics of automation, convenience, safety and the like, and the problems caused by the contact wired charging mode of the electric automobile can be solved by adopting the wireless charging; the existing wireless charging of the electric automobile generally adopts a magnetic field coupling type wireless electric energy transmission technology, alternating magnetic fields are generated by applying high-frequency alternating current to a transmitting coil arranged on the ground, and under the action of the high-frequency alternating magnetic fields, a receiving coil arranged on the electric automobile induces the high-frequency alternating current, and then the high-frequency alternating current is converted into direct current through a rectifier to be transmitted to an automobile storage battery for charging; the magnetic field coupling type wireless charging technology has the advantages of larger transmission power, longer transmission distance, higher efficiency and the like;
however, the magnetic field coupling wireless charging system often has the following disadvantages, which prevent the development and popularization of the wireless charging technology, for example:
(1) the transmitting and receiving coils are required to be made of metal litz wires and ferrite materials, so that the coils are large in size and heavy in weight, and the investment cost is increased;
(2) The installation and burying of the transmitting coil are required to carry out certain civil construction on a parking space, the installation of the receiving coil is required to modify an electric automobile, even the whole automobile is generally required to be redesigned, and the loading load of the automobile is increased due to the installation of the receiving coil;
(3) in the wireless charging process, high-power transmission can possibly generate magnetic field leakage and electromagnetic interference, if metal foreign matters cannot be identified in the transmission magnetic field, the temperature of the foreign matters is increased due to the eddy effect, and even inflammables are ignited to cause fire disaster, so that the existing technology still has some potential safety hazard problems to be overcome, electromagnetic leakage also can pollute the ecological environment, and has adverse effects on the health of people.
In the existing wireless charging technology, when the alignment positions of a transmitting coil and a receiving coil are offset, the magnetic field coupling type wireless charging technology can cause the reduction of transmission efficiency and the generation of magnetic field leakage inductance, and even can not work; the existing wireless charging technology generally adopts a small coil for auxiliary sensing arranged on a receiving coil or a transmitting coil, and the receiving coil or the receiving coil generates an excitation detection magnetic field and detects the magnetic field by detecting the change of voltage, current and the like of the auxiliary coil so as to obtain the relative position between the receiving coil and the transmitting coil; the receiving coil and the transmitting coil are aligned by detecting the relative position and transmitting the data to guide a driver of the electric automobile or a parking system to park the automobile in a charging area allowed by the vehicle.
Because the electromagnetic environment safety control limit value is restricted by the national regulations, the intensity of the transmitted magnetic field is very small when the coil of the wireless charging of the electric automobile guides and aligns, the magnetic field signal generated by the closed coil such as the transmitting coil has very fast attenuation along with the increase of the distance (inversely proportional to the third power of the distance), and is also easily influenced by magnetic substances in the field or surrounding environment, such as interference of metal objects, materials or other parking vehicles, etc., the detected acting distance is obvious only near the magnetic field generating source, and the driver or parking system has insufficient operation space and reaction time to adjust the running route of the vehicle when the reliable position detection data is obtained, thus the alignment of the coil is not completed correctly even so, and the experience and popularization of the wireless charging are greatly reduced. For capacitive coupling wireless charging using small-sized plates, no efficient way is available for alignment between transmit and receive plates.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic wireless charging system and a charging method for a capacitive coupling type electric automobile, which adopt light and thin conductors as transmitting polar plates and receiving polar plates to form coupling capacitors, realize capacitive coupling type wireless charging based on electric field transmission electric energy, adopt a charging transmitting platform carrying a multi-degree-of-freedom mechanical arm, combine remote radio frequency positioning, finish accurate positioning between the transmitting polar plates and the receiving polar plates in a final verification mode by adopting a photoelectric switch, realize automatic wireless charging under the condition that a manual driving or vehicle parking system is not required to implement alignment of a coupling mechanism, and have the function of charging a plurality of electric automobiles in sequence one to many.
Capacitive coupling type electric automobile automatic wireless charging system includes: a charging transmitting platform and a vehicle-mounted receiving device;
further, the charging and transmitting platform comprises: the device comprises a transmitting unit, a transmitting power cabinet, a mechanical arm and a mobile chassis; the tail end of the mechanical arm is arranged above the emission power supply cabinet; the emission power cabinet is arranged above the mobile chassis; the transmitting unit is arranged at the front end of the mechanical arm, and a radio frequency reader, a photoelectric switch transmitter and two transmitting polar plates are arranged at the center of the transmitting unit;
as an illustration, the transmission power cabinet includes: the power supply unit comprises an outer shell, a power supply, a PFC unit, an inversion unit, a transmitting resonance unit, a compensation network and a transmitting communication controller, wherein the power supply, the PFC unit, the inversion unit, the transmitting resonance unit, the compensation network and the transmitting communication controller are arranged inside the outer shell;
as an illustration, the emission power cabinet can also be hung and installed at one side of the mechanical arm;
as an illustration, the mechanical arm is a multi-degree-of-freedom cooperative robot, and the cooperative robot has the advantages that the robot can interact with human beings in a close range in a common space, and the action of the robot does not need to consider the safety protection when the human beings move in a charging area;
As an example, the PFC unit includes: the power frequency alternating current input from the outside is sent to the PFC unit through a power supply, and is converted into direct current through rectification and filtering; the direct current is sent to the transmitting inversion unit, the direct current is inverted into high-frequency alternating current, then the high-frequency alternating current is boosted by the transmitting resonance unit, and the high-frequency high-voltage alternating current is applied to the transmitting polar plate by the compensation network;
as an example, the compensation network functions to tune the LC resonance formed between the coupling capacitance and the inductance of the resonant unit to improve the transmission power and efficiency;
as an example of an application, the compensation network may employ one of voltage series resonance compensation, current parallel resonance compensation, or composite resonance compensation;
further, the vehicle-mounted receiving device is installed on an electric automobile, and comprises: the device comprises a receiving resonance unit, a rectifying unit, a power battery, a direct current converter, a storage battery, a receiving communication controller and a receiving unit;
further, the receiving unit is provided with a photoelectric switch receiver, four active radio frequency labels and two receiving polar plates, and the four active radio frequency labels are respectively arranged at the left upper, the left lower, the right upper and the right lower four corners of the receiving unit; the receiving communication controller is in communication connection with the whole vehicle controller of the electric vehicle through a CAN bus, and receives information instructions of the vehicle;
As an illustration, the receiving communication controller and four active radio frequency tags are powered by the battery;
as an illustration, a coupling capacitor is formed between the transmitting polar plate and the receiving polar plate through the alignment of the transmitting unit and the receiving unit, the two coupling capacitors formed by the two transmitting polar plates and the two receiving polar plates are communicated with a live wire and a zero wire in a single-phase alternating current loop, and under the action of high-frequency high-voltage alternating current, the alternating current is transmitted to the receiving polar plate through the transmitting polar plate, so that the wireless transmission of electric energy is realized; the high-frequency alternating current transmitted to the receiving polar plate is sent to the rectifying unit after passing through the receiving resonance unit, and the alternating current is converted into direct current after rectification, and the direct current is transmitted to the power battery on the automobile to charge the electric automobile; the direct current of the power battery is converted into low-voltage direct current through a direct current converter to charge the storage battery; when the charging transmitting platform is positioned, the storage battery supplies power for the receiving communication controller, the radio frequency tag and the photoelectric switch receiver, and the storage battery continues to supply power for the receiving communication controller in the charging process.
Furthermore, the receiving communication controller and the transmitting communication controller are respectively internally provided with a processing unit with data processing capability and a wireless communication unit, and the transmitting communication controller and the receiving communication controller can perform wireless communication between data through the wireless communication units arranged in the receiving communication controller and the transmitting communication controller;
As an illustration, the wireless communication employs: wi-Fi, zigbee, bluetooth, millimeter wave or ultra-wideband communication mode;
as an illustration, the receiving unit may be mounted on a side, a head, a tail, a roof or a bottom of an electric automobile body, such as an automobile bumper and a license plate;
as an illustration, the housings of the transmitting unit and the receiving unit are made of an insulating material;
as an illustration, the transmitting electrode plate and the receiving electrode plate are manufactured by processing one or a combination of copper foil, aluminum foil or carbon materials;
as another example, the transmitting electrode plate and the receiving electrode plate may be thin film electrodes made of conductive polymers, and in order to increase capacitance and maintain good insulation between the transmitting electrode plate and the receiving electrode plate, the transmitting electrode plate and the receiving electrode plate are encapsulated inside an insulating material;
as an illustration of one application, the insulating material is: one or a combination of glass, ceramic laminate, barium titanate and titanium dioxide;
the automatic wireless charging method of the capacitive coupling type electric automobile comprises the following steps:
step one, when an electric automobile needs to be charged due to low electric quantity, the electric automobile enters a chargeable area, the electric automobile sends a charging instruction, searches a communication signal through a receiving communication controller, and establishes communication with a transmitting communication controller; the electric automobile is parked at a certain parking space in the chargeable area range, and the side provided with the receiving unit is close to the moving channel of the charging transmitting platform, and the electric automobile sends a charging request to the transmitting communication controller through the receiving communication controller;
Step two, when the transmitting communication controller receives a charging request and the charging transmitting platform is in an idle state, the transmitting communication controller sends a command for confirming that charging can be performed to the receiving communication controller, the receiving communication controller sends coding information of four radio frequency tags to the transmitting communication controller, and each radio frequency tag corresponds to a binary code respectively;
the method comprises the steps that four active radio frequency tags of a receiving unit send out coding information of the four radio frequency tags through a built-in transmitting antenna, and the radio frequency signals comprise binary codes of the radio frequency tags;
step three, the emission communication controller controls the mechanical arm to adjust the emission unit at the front end to be vertical to the space plane, and the mechanical arm is retracted;
a radio frequency reader of the transmitting unit receives radio frequency signals transmitted from each active radio frequency tag, demodulates and decodes the received radio frequency signals, determines coding information of the radio frequency tags corresponding to the signals, and sequentially measures the signal intensity of the radio frequency tags;
after receiving the radio frequency signal, the radio frequency reader of the transmitting unit sends the radio frequency signal intensity data of each active radio frequency tag to the transmitting communication controller, and the transmitting communication controller judges the distance d between the transmitting unit and the receiving unit according to the received radio frequency signal intensity, wherein the radio frequency signal intensity can be reduced along with the increase of the distance d, and the following formula is satisfied between the signal intensity P (d) and the distance d:
d＝10 [P(d1)－P(d)]/10n
Wherein P (d) 1 ) And n is the radio frequency signal intensity and radio frequency signal propagation scale factor obtained at 1m respectively, and the two values are related to the application environment and can be calibrated in advance;
step five, according to the distance d between the transmitting unit and the receiving unit and the distance deviation between the left active radio frequency tag and the right active radio frequency tag, the transmitting communication controller controls the mechanical arm on the charging transmitting platform to advance or retreat along the X axis, and can also control the driving mechanism of the mobile chassis to enable the charging transmitting platform to advance and retreat along the X axis direction in the mobile channel, and verify the correctness of the movement direction in the movement process;
when moving in the correct direction, the radio frequency signal intensity received by the radio frequency reader and sent to the transmitting communication controller is stronger and the distance d calculated by the transmitting communication controller is smaller; when the movement direction is determined, the transmitting communication controller controls and drives the mobile chassis to enable the charging transmitting platform to move towards the direction where the receiving unit is located;
when the radio frequency signal intensities between the upper left active radio frequency tag and the upper right active radio frequency tag and the lower left active radio frequency tag and the lower right active radio frequency tag which are received by the radio frequency reader and sent to the receiving unit are equal, or the difference between the radio frequency signal intensities between the upper left active radio frequency tag and the upper right active radio frequency tag and the difference between the radio frequency signal intensities between the lower left active radio frequency tag and the lower right active radio frequency tag are not reduced, the transmitting unit and the receiving unit are initially aligned in the X-axis direction;
Step six, the emission communication controller controls the mechanical arm on the charging emission platform to extend or retract along the Y-axis direction, and can also control the driving mechanism of the mobile chassis to enable the charging emission platform to advance or retract along the Y-axis direction in the mobile channel so as to determine the advancing or retracting direction of the Y-axis direction;
when the radio frequency signal intensity received by the radio frequency reader and sent to the transmitting communication controller is stronger and stronger, the distance d calculated by the transmitting communication controller is smaller and smaller, and the distance d is the correct movement direction; when the movement direction is determined, the transmitting communication controller controls the driving mechanism of the mobile chassis to enable the charging transmitting platform to approach to the direction in which the receiving unit is positioned; when the distance d calculated by the emission communication controller is continuously reduced and the Y-axis direction is within the range of the extending operation of the mechanical arm, the emission communication controller controls the movable chassis to stop moving;
step seven, the transmitting communication controller controls the mechanical arm on the charging transmitting platform to move upwards or downwards in the vertical direction of the space plane, and when the radio frequency signal intensities of the four radio frequency tags received by the radio frequency reader and sent to the transmitting communication controller are equal, or the difference of the radio frequency signal intensities of the radio frequency tags can not be reduced any more, the transmitting unit and the receiving unit are initially aligned in the height direction;
Step eight, calculating a certain deviation of the distance from the strength of the radio frequency signal to realize positioning, and further finishing accurate alignment of the transmitting unit and the receiving unit after finishing preliminary alignment by the radio frequency tag;
after the primary alignment is finished through the radio frequency tag, the transmitting communication controller and the receiving communication controller respectively open the photoelectric switch transmitter and the photoelectric switch receiver, the photoelectric switch transmitter sends out optical signals, the transmitting communication controller controls the mechanical arm to move up, down, left and right in parallel in the vertical direction of the space plane by taking the primary aligned position as the center, and the moving range takes the theoretical deviation of the positioning of the radio frequency tag as a reference, so that the range needs to be calibrated in advance; when the receiving communication controller collects the light signals sent by the photoelectric switch transmitter and received by the photoelectric switch receiver in the moving process of the mechanical arm, the receiving communication controller sends the information of the received light signals to the transmitting communication controller, and the transmitting communication controller controls the mechanical arm to stop moving in parallel and slowly extend along the Y-axis direction and approach the receiving unit until the transmitting unit and the receiving unit are completely contacted and attached;
the transmitting communication controller sends the contact fitting completion information of the transmitting unit and the receiving unit to the receiving communication controller, the receiving communication controller receives the contact fitting completion information and confirms that the photoelectric switch receiver can still receive the optical signal sent by the photoelectric switch transmitter, and the receiving communication controller confirms that the accurate alignment positioning of the transmitting unit and the receiving unit is completed and sends a confirmation signal of the accurate alignment completion to the transmitting communication controller;
As an example, the transmitting unit and the receiving unit are in full contact and fit, when the rf signal intensity of each rf tag received by the rf reader and sent to the transmitting communication controller is equal to the corresponding signal intensity P (d 0 ) And when the mechanical arm can not be extended and moved forwards any more, the transmitting unit and the receiving unit are completely contacted and attached, wherein the signal intensity P (d) 0 ) Advanced calibration is also required.
Step nine, after the transmitting communication controller receives a confirmation signal that the transmitting unit and the receiving unit are accurately aligned, the transmitting communication controller controls the charging system to firstly send a low-power electric energy to be transmitted to the receiving end of the electric automobile, if the receiving communication controller detects that the received electric energy power meets a system design value, information is sent to the transmitting communication controller, the transmitting communication controller controls the output power to be gradually increased to start charging, and if the system design value is not met, the steps are repeated to reposition;
as an illustration, when the electric automobile is charged, parameters such as voltage, current and the like required by charging the power battery are sent to the transmitting communication controller through the receiving communication controller, and the PFC unit, the inversion unit, the transmitting resonance unit and the compensation network are controlled by the transmitting communication controller to complete corresponding energy conversion and transmission;
As an illustration, the wireless charging of the electric automobile adopts an electric field coupling mode, a power supply on a charging transmitting platform is connected with an external alternating current input end through an extensible flexible power supply cable, the power supply supplies power to a transmitting communication controller, a photoelectric switch transmitter, a mobile chassis and a mechanical arm, and meanwhile, the power supply is connected with a PFC (power factor correction) unit;
step ten, when the electric quantity of a power battery of the vehicle is full, the power supply is closed, the alternating current input transmitted to the PFC unit is stopped from being charged, the mechanical arm withdraws the transmitting unit, and the charging transmitting platform leaves the charging position;
as an illustration, when there are multiple electric vehicles to be charged, the charging transmitting platform moves to the next vehicle according to the above steps after the charging is completed, and the process of positioning and charging is continuously completed;
as an illustration, the charging service may be remotely reserved, such as to start charging when the electricity price is in a valley at night, and the sequential allocation of vehicle charging is completed by the platform communication control unit and the charging transmitting platform; when the whole charging process is finished, the charging emission platform automatically moves to return to the standby position.
The beneficial effects are that:
according to the invention, alignment between the coupling mechanisms of the transmitting end and the receiving end is realized without manual driving or automatic parking, and the electric automobile to be charged is stopped at the appointed parking space position, so that the actions can be completed through the charging transmitting platform and the multi-degree-of-freedom mechanical arm carried by the charging transmitting platform, the problems that the coil alignment is required for wireless charging of the electric automobile, and the operation is inconvenient are solved, and automatic wireless charging of the electric automobile is realized; the charging structure can also charge a plurality of parking spaces in sequence, so that the initial investment cost of the charging equipment is reduced;
the invention adopts a capacitive coupling mode to realize wireless charging, only light and thin cheap copper foil, aluminum foil, conductive polymer and the like can be used as a transmitting and receiving polar plate, the coupling mechanism of the system is simple, light and thin, has no limitation on the shape, has low cost compared with expensive litz wires and magnetic conductive materials required by a magnetic coupling mode, has lighter weight than a coil of the magnetic coupling mode, and realizes that the capacitive coupling wireless charging has less structural change on an electric automobile, and even does not need to change. When the wireless charging is performed by adopting the capacitive coupling mode, even if a metal object exists in a coupling electric field, eddy current loss is not caused in the coupling electric field, so that heating and burning are not caused. In the charging process, electric energy is transferred between the transmitting polar plate and the receiving polar plate, so that the electromagnetic interference to the surrounding environment is small, the electromagnetic radiation is not released to the external space, the safe operation of the system can be ensured, and the high transmission efficiency can be obtained.
Drawings
FIG. 1 is a schematic diagram of the whole structure of an automatic wireless charging system for a capacitive coupling type electric vehicle according to the present invention
FIG. 2 is a schematic diagram of the structure of a transmitting unit and a receiving unit of the capacitive coupling type automatic wireless charging system for electric vehicles of the present invention
FIG. 3 is a schematic diagram showing the operation state of the automatic wireless charging system of the capacitive coupling type electric car according to the present invention
FIG. 4 is a coordinate setting reference diagram of the wireless charging of the car of the capacitive coupling type automatic wireless charging system of the electric car of the present invention
Detailed Description
Referring now to fig. 1 to 4, the capacitive coupling type automatic wireless charging system for an electric vehicle includes: a charging transmission platform 101 and a vehicle-mounted receiving device 102;
further, the charging and transmitting platform 101 includes: a transmitting unit 103, a transmitting power cabinet 104, a mechanical arm 105 and a mobile chassis 106; the tail end of the mechanical arm 105 is arranged above the emission power cabinet 104; the emission power cabinet 104 is installed above the mobile chassis 106; the transmitting unit 103 is arranged at the front end of the mechanical arm 105, and a radio frequency reader 107, a photoelectric switch transmitter 108 and two transmitting polar plates 109 are arranged at the center position of the transmitting unit 103;
As an illustration, the transmission power cabinet 104 includes: an outer case, a power supply 110, a PFC unit 111, an inverter unit 112, a transmitting resonance unit 113, a compensation network 114, and a transmitting communication controller 115 disposed inside the outer case;
as an illustration, the emission power cabinet 104 may also be mounted on one side of the mechanical arm 105 in a hanging manner;
as an illustration, the manipulator 105 is a multi-degree-of-freedom cooperative robot, and the cooperative robot has the advantages of being capable of interacting with human beings in a close range in a common space, and the action of the robot does not need to consider the safety protection when the human beings move in a charging area;
as an example, the PFC unit 111 includes: the power frequency alternating current input from the outside is sent to the PFC unit 111 through the power supply 110 and is converted into direct current through rectification and filtering; the direct current is sent to the transmitting inversion unit 112, and then the direct current is inverted into high-frequency alternating current, and then the high-frequency alternating current is boosted by the transmitting resonance unit 113, and the high-frequency and high-voltage alternating current is applied to the transmitting polar plate 109 through the compensating network 114;
as an example, the compensation network 114 is used to tune the LC resonance formed between the coupling capacitance and the inductance of the resonant unit to improve the transmission power and efficiency;
As an example of one application, the compensation network 114 may employ one of voltage series resonance compensation, current parallel resonance compensation, or composite resonance compensation;
further, the vehicle-mounted receiving device 102 is mounted on an electric vehicle, and includes: a receiving resonance unit 116, a rectifying unit 117, a power battery 118, a direct current converter 119, a storage battery 120, a receiving communication controller 121, and a receiving unit 122;
further, the receiving unit 122 is provided with a photoelectric switch receiver 123, four active radio frequency tags 124 and two receiving polar plates 125, and the four active radio frequency tags 124 are respectively installed at the upper left, lower left, upper right and lower right four corners of the receiving unit 122; the receiving communication controller 121 establishes communication connection with a whole vehicle controller of the electric vehicle through a CAN bus, and receives an information instruction of the vehicle;
as an illustration, the receiving communication controller 121 and four active rf tags 124 are powered by the battery 120;
as an illustration, a coupling capacitor is formed between the transmitting electrode plate 109 and the receiving electrode plate 125 by aligning the transmitting unit 103 with the receiving unit 122, the two coupling capacitors formed by the two transmitting electrode plates 109 and the two receiving electrode plates 125 are communicated with a live wire and a zero wire in a single-phase ac loop, and under the action of high-frequency high-voltage ac, the ac is transmitted to the receiving electrode plate 125 through the transmitting electrode plate 109, so as to realize wireless transmission of the electric energy;
The high-frequency alternating current transmitted to the receiving polar plate 125 is sent to the rectifying unit 117 after passing through the receiving resonance unit 116, and is converted into direct current after rectification, and the direct current is transmitted to the power battery 118 on the automobile to charge the electric automobile; the direct current of the power battery 118 is converted into low-voltage direct current through the direct current converter 119 to charge the storage battery; when the charging transmitting platform is positioned, the storage battery 120 supplies power to the receiving communication controller 121, the radio frequency tag 124 and the photoelectric switch receiver 123, and the storage battery 120 continues to supply power to the receiving communication controller 121 in the charging process.
Further, the receiving communication controller 121 and the transmitting communication controller 115 are respectively provided with a processing unit with data processing capability and a wireless communication unit, and the transmitting communication controller 115 and the receiving communication controller 121 can perform wireless communication between data through the wireless communication units arranged in the receiving communication controller and the transmitting communication controller;
as an illustration, the wireless communication employs: wi-Fi, zigbee, bluetooth, millimeter wave or ultra-wideband communication mode;
as an example, the receiving unit 122 may be mounted on a side, a head, a tail, a roof or a bottom of an electric vehicle body, such as a bumper, a license plate;
As an illustration, the housings of the transmitting unit 103 and the receiving unit 122 are made of an insulating material;
as an illustration, the transmitting plate 109 and the receiving plate 125 are manufactured by processing one or a combination of copper foil, aluminum foil or carbon material;
as another example, the transmitting electrode plate 109 and the receiving electrode plate 125 may be thin film electrodes made of conductive polymers, and the transmitting electrode plate 109 and the receiving electrode plate 125 are encapsulated in an insulating material for increasing capacitance and maintaining good insulation between the transmitting electrode plate and the receiving electrode plate;
as an illustration of one application, the insulating material is: one or a combination of glass, ceramic laminate, barium titanate and titanium dioxide;
the automatic wireless charging method of the capacitive coupling type electric automobile comprises the following steps:
step one, when an electric vehicle needs to be charged due to low electric quantity, the electric vehicle enters a chargeable area, and sends out a charging instruction, searches a communication signal through a receiving communication controller 121, and establishes communication with a transmitting communication controller 115; the electric automobile parks in a certain parking space in the chargeable area range, and approaches the side provided with the receiving unit 122 to the moving channel of the charging transmitting platform 101, and the electric automobile sends a charging request to the transmitting communication controller 115 through the receiving communication controller 121;
Step two, when the transmitting communication controller 115 receives the charging request and the charging transmitting platform is in an idle state, the transmitting communication controller 115 sends a command for confirming that charging can be performed to the receiving communication controller 121, and the receiving communication controller 121 sends coding information of four radio frequency tags to the transmitting communication controller 115, wherein each radio frequency tag corresponds to a binary code respectively;
the four active radio frequency tags 124 of the receiving unit send out the coding information of the four radio frequency tags through the built-in transmitting antenna, and the radio frequency signals comprise binary codes of the radio frequency tags;
step three, the emission communication controller 115 controls the mechanical arm 105 to adjust the emission unit 103 at the front end to be vertical to the space plane, and then the mechanical arm 105 is retracted;
step four, the radio frequency reader 107 of the transmitting unit 103 receives the radio frequency signals sent from each active radio frequency tag 124, the radio frequency reader 107 demodulates and decodes the received radio frequency signals, determines the coding information of the radio frequency tags corresponding to the signals, and sequentially measures the signal intensity of each active radio frequency tag 124;
after receiving the rf signal, the rf reader 107 of the transmitting unit 103 sends rf signal strength data of each active rf tag 124 to the transmitting communication controller 115, and the transmitting communication controller 115 determines the distance d between the transmitting unit 103 and the receiving unit 122 according to the received rf signal strength, where the rf signal strength decreases with the increase of the distance d, and the following formula is satisfied between the signal strength P (d) and the distance d:
d＝10 [P(d1)－P(d)]/10n
Wherein P (d) 1 ) And n is the radio frequency signal intensity and radio frequency signal propagation scale factor obtained at 1m respectively, and the two values are related to the application environment and can be calibrated in advance;
step five, according to the distance d between the transmitting unit 103 and the receiving unit 122 and the distance deviation between the left active radio frequency tag 124 and the right active radio frequency tag 124, the transmitting communication controller 115 controls the mechanical arm 105 on the charging transmitting platform 101 to advance or retract along the X axis, and may also control the driving mechanism of the mobile chassis 106 to advance and retract along the X axis direction in the mobile channel, and verify the correctness of the moving direction in the moving process;
that is, when moving in the correct direction, the rf signal strength of the rf signal received by the rf reader 107 and sent to the transmitting communication controller 115 becomes stronger, and the distance d calculated by the transmitting communication controller 115 becomes smaller; when the movement direction is determined, the transmitting communication controller 115 controls the driving of the mobile chassis 106 to move the charging transmitting platform 101 to the direction in which the receiving unit 122 is located;
when the radio frequency signal intensities between the upper left active radio frequency tag and the upper right active radio frequency tag and the lower left active radio frequency tag and the lower right active radio frequency tag received by the radio frequency reader 107 and transmitted to the receiving unit 122 are equal, or the difference between the radio frequency signal intensities between the upper left active radio frequency tag and the upper right active radio frequency tag and the lower left active radio frequency tag and the lower right active radio frequency tag cannot be reduced, it indicates that the transmitting unit 103 and the receiving unit 122 are primarily aligned in the X-axis direction;
Step six, the emission communication controller 115 controls the mechanical arm 105 on the charging emission platform 101 to extend or retract along the Y-axis direction, or may control the driving mechanism of the mobile chassis 106 to make the charging emission platform 101 advance or retract along the Y-axis direction in the mobile channel, so as to determine the direction of the advance or the retraction along the Y-axis direction;
when the radio frequency signal strength of the radio frequency signal received by the radio frequency reader 107 and sent to the transmitting communication controller 115 is stronger and stronger, the distance d calculated by the transmitting communication controller 115 is smaller and smaller, and the distance d is the correct movement direction; when the movement direction is determined, the transmitting communication controller 115 controls the driving mechanism of the mobile chassis 106 to approach the charging transmitting platform 101 to the direction in which the receiving unit 122 is located; when the distance d calculated by the emission communication controller 115 is continuously reduced and is within the range of the extension work of the mechanical arm 105 in the Y-axis direction, the emission communication controller 115 controls the movable chassis 106 to stop moving;
step seven, the transmitting communication controller 115 controls the mechanical arm 105 on the charging transmitting platform 101 to move upwards or downwards in the vertical direction of the space plane, and when the radio frequency signal intensities of the four radio frequency tags received by the radio frequency reader 107 and sent to the transmitting communication controller 115 are all equal, or the difference between the radio frequency signal intensities of the active radio frequency tags 124 can not be reduced any more, it indicates that the transmitting unit 103 and the receiving unit 122 are aligned primarily in the height direction;
Step eight, calculating a certain deviation of the distance from the intensity of the radio frequency signal to realize positioning, and further completing the accurate alignment of the transmitting unit 103 and the receiving unit 122 after completing the preliminary alignment by the radio frequency tag;
after the primary alignment is finished through the radio frequency tag, the transmitting communication controller and the receiving communication controller respectively open the photoelectric switch transmitter and the photoelectric switch receiver, the photoelectric switch transmitter sends out optical signals, the transmitting communication controller controls the mechanical arm to move up, down, left and right in parallel in the vertical direction of the space plane by taking the primary aligned position as the center, and the moving range takes the theoretical deviation of the positioning of the radio frequency tag as a reference, so that the range needs to be calibrated in advance; when the receiving communication controller collects the light signals sent by the photoelectric switch transmitter and received by the photoelectric switch receiver in the moving process of the mechanical arm, the receiving communication controller sends the information of the received light signals to the transmitting communication controller, and the transmitting communication controller controls the mechanical arm to stop moving in parallel and slowly extend along the Y-axis direction and approach the receiving unit until the transmitting unit and the receiving unit are completely contacted and attached;
the transmitting communication controller sends the contact fitting completion information of the transmitting unit and the receiving unit to the receiving communication controller, the receiving communication controller receives the contact fitting completion information and confirms that the photoelectric switch receiver can still receive the optical signal sent by the photoelectric switch transmitter, and the receiving communication controller confirms that the accurate alignment positioning of the transmitting unit and the receiving unit is completed and sends a confirmation signal of the accurate alignment completion to the transmitting communication controller;
As an example, the transmitting unit and the receiving unit are in full contact and fit, when the rf signal intensity of each rf tag received by the rf reader and sent to the transmitting communication controller is equal to the corresponding signal intensity P (d 0 ) And when the mechanical arm can not be extended and moved forwards any more, the transmitting unit and the receiving unit are completely contacted and attached, wherein the signal intensity P (d) 0 ) Advanced calibration is also required.
Step nine, after the transmitting communication controller 115 receives a confirmation signal that the transmitting unit 103 and the receiving unit 122 are accurately aligned, the transmitting communication controller 115 controls the charging system to firstly send a low-power electric energy to the receiving end of the electric automobile, if the receiving communication controller 121 detects that the received electric energy power meets the system design value, information is sent to the transmitting communication controller 115, the transmitting communication controller 115 controls the output power to gradually increase to start charging, if the system design value is not met, the steps are repeated to reposition;
as an illustration, when the electric vehicle is charged, parameters such as voltage and current required by charging the power battery 118 are sent to the transmitting communication controller 115 through the receiving communication controller, and the PFC unit 111, the inverter unit 112, the transmitting resonance unit 113 and the compensation network 114 are controlled by the transmitting communication controller 115 to perform corresponding energy conversion and transmission;
As an illustration, the wireless charging of the electric automobile adopts an electric field coupling mode, a power supply 110 on the charging and transmitting platform 101 is connected with an external ac input end through an extendable flexible power supply cable, the power supply 110 supplies power to the transmitting communication controller 115, the photoelectric switch transmitter 108, the mobile chassis 106 and the mechanical arm 105, and meanwhile, the power supply 110 is electrically connected with a PFC (power factor correction) unit 111;
step ten, when the electric quantity of the power battery 118 of the vehicle is full, the power supply 110 turns off the alternating current input transmitted to the PFC unit 111 to stop charging, the mechanical arm 105 withdraws 103 the emission unit, and the charging emission platform 101 leaves the charging position;
as an illustration, when there are a plurality of electric vehicles to be charged, the charging transmitting platform 101 moves to the next vehicle after the charging is completed according to the above steps, and proceeds to complete the process of positioning and charging;
as an illustration, the charging service may be remotely reserved, such as to start charging when the electricity price is in a valley at night, and the sequential allocation of vehicle charging is completed by the platform communication control unit and the charging transmitting platform; when the whole charging process is finished, the charging emission platform automatically moves to return to the standby position.
According to the invention, alignment between the coupling mechanisms of the transmitting end and the receiving end is realized without manual driving or automatic parking, and the electric automobile to be charged is stopped at the appointed parking space position, so that the actions can be completed through the charging transmitting platform and the multi-degree-of-freedom mechanical arm carried by the charging transmitting platform, the problems that the coil alignment is required for wireless charging of the electric automobile, and the operation is inconvenient are solved, and automatic wireless charging of the electric automobile is realized; the charging structure can also charge a plurality of parking spaces in sequence, so that the initial investment cost of the charging equipment is reduced;
the invention adopts a capacitive coupling mode to realize wireless charging, only light and thin cheap copper foil, aluminum foil, conductive polymer and the like can be used as a transmitting and receiving polar plate, the coupling mechanism of the system is simple, light and thin, has no limitation on the shape, has low cost compared with expensive litz wires and magnetic conductive materials required by a magnetic coupling mode, has lighter weight than a coil of the magnetic coupling mode, and realizes that the capacitive coupling wireless charging has less structural change on an electric automobile, and even does not need to change. When the wireless charging is performed by adopting the capacitive coupling mode, even if a metal object exists in a coupling electric field, eddy current loss is not caused in the coupling electric field, so that heating and burning are not caused. In the charging process, electric energy is transferred between the transmitting polar plate and the receiving polar plate, so that the electromagnetic interference to the surrounding environment is small, the electromagnetic radiation is not released to the external space, the safe operation of the system can be ensured, and the high transmission efficiency can be obtained.
The above disclosure is only one specific embodiment of the present application, but the present application is not limited thereto, and any changes that can be thought by those skilled in the art should fall within the protection scope of the present application.

Claims (9)

1. The automatic wireless charging method for the capacitive coupling type electric automobile is characterized by comprising the following steps of:
the automatic wireless charging system of capacitive coupling type electric automobile is provided with: a charging transmitting platform and a vehicle-mounted receiving device;
the charging and transmitting platform comprises: the device comprises a transmitting unit, a transmitting power cabinet, a mechanical arm and a mobile chassis; the tail end of the mechanical arm is arranged above the emission power supply cabinet; the emission power cabinet is arranged above the mobile chassis; the transmitting unit is arranged at the front end of the mechanical arm, and a radio frequency reader, a photoelectric switch transmitter and two transmitting polar plates are arranged at the center of the transmitting unit; the transmission power cabinet includes: the power supply unit comprises an outer shell, a power supply, a PFC unit, an inversion unit, a transmitting resonance unit, a compensation network and a transmitting communication controller, wherein the power supply, the PFC unit, the inversion unit, the transmitting resonance unit, the compensation network and the transmitting communication controller are arranged inside the outer shell;
the vehicle-mounted receiving device is installed on an electric automobile and comprises: the device comprises a receiving resonance unit, a rectifying unit, a power battery, a direct current converter, a storage battery, a receiving communication controller and a receiving unit; the receiving unit is provided with a photoelectric switch receiver, four active radio frequency labels and two receiving polar plates, wherein the four active radio frequency labels are respectively arranged at the four corners of the upper left, the lower left, the upper right and the lower right of the receiving unit; the receiving communication controller is in communication connection with the whole vehicle controller of the electric vehicle through a CAN bus, and receives information instructions of the vehicle;
A coupling capacitor is formed between the transmitting polar plate and the receiving polar plate through the alignment of the transmitting unit and the receiving unit, the two coupling capacitors formed by the two transmitting polar plates and the two receiving polar plates are communicated with a live wire and a zero wire in a single-phase alternating current loop, and under the action of high-frequency high-voltage alternating current, the alternating current is transmitted to the receiving polar plate through the transmitting polar plate, so that the wireless transmission of electric energy is realized;
the receiving communication controller and the transmitting communication controller are respectively provided with a processing unit with data processing capability and a wireless communication unit, and the transmitting communication controller and the receiving communication controller can perform wireless communication between data through the wireless communication units arranged in the receiving communication controller and the transmitting communication controller;
further comprises: a wireless charging method based on a capacitive coupling type automatic wireless charging system of an electric automobile specifically comprises the following steps:
step one, when an electric automobile needs to be charged due to low electric quantity, the electric automobile enters a chargeable area, the electric automobile sends a charging instruction, searches a communication signal through a receiving communication controller, and establishes communication with a transmitting communication controller; the electric automobile is parked at a certain parking space in the chargeable area range, and the side provided with the receiving unit is close to the moving channel of the charging transmitting platform, and the electric automobile sends a charging request to the transmitting communication controller through the receiving communication controller;
Step two, when the transmitting communication controller receives a charging request and the charging transmitting platform is in an idle state, the transmitting communication controller sends a command for confirming that charging can be performed to the receiving communication controller, the receiving communication controller sends coding information of four radio frequency tags to the transmitting communication controller, and each radio frequency tag corresponds to a binary code respectively;
the four active radio frequency tags of the receiving unit send out the coded information of the four radio frequency tags through the built-in transmitting antenna, and the radio frequency signals comprise binary codes of the radio frequency tags;
step three, the emission communication controller controls the mechanical arm to adjust the emission unit at the front end to be vertical to the space plane, and the mechanical arm is retracted;
a radio frequency reader of the transmitting unit receives radio frequency signals transmitted from each active radio frequency tag, demodulates and decodes the received radio frequency signals, determines coding information of the radio frequency tags corresponding to the signals, and sequentially measures the signal intensity of the radio frequency tags;
after receiving the radio frequency signal, the radio frequency reader of the transmitting unit sends the radio frequency signal intensity data of each active radio frequency tag to the transmitting communication controller, and the transmitting communication controller judges the distance d between the transmitting unit and the receiving unit according to the received radio frequency signal intensity, wherein the radio frequency signal intensity can be reduced along with the increase of the distance d, and the following formula is satisfied between the signal intensity P (d) and the distance d:
Wherein P (d) 1 ) And n is the radio frequency signal intensity and radio frequency signal propagation scale factor obtained at 1m respectively, and the two values are related to the application environment and can be calibrated in advance;
step five, according to the distance d between the transmitting unit and the receiving unit and the distance deviation between the left active radio frequency tag and the right active radio frequency tag, the transmitting communication controller controls the mechanical arm on the charging transmitting platform to advance or retreat along the X axis, and can also control the driving mechanism of the mobile chassis to enable the charging transmitting platform to advance and retreat along the X axis direction in the mobile channel, and verify the correctness of the movement direction in the movement process;
when moving in the correct direction, the radio frequency signal intensity received by the radio frequency reader and sent to the transmitting communication controller is stronger and the distance d calculated by the transmitting communication controller is smaller; when the movement direction is determined, the transmitting communication controller controls and drives the mobile chassis to enable the charging transmitting platform to move towards the direction where the receiving unit is located;
when the radio frequency signal intensities between the upper left active radio frequency tag and the upper right active radio frequency tag and the lower left active radio frequency tag and the lower right active radio frequency tag which are received by the radio frequency reader and sent to the receiving unit are equal, or the difference between the radio frequency signal intensities between the upper left active radio frequency tag and the upper right active radio frequency tag and the difference between the radio frequency signal intensities between the lower left active radio frequency tag and the lower right active radio frequency tag are not reduced, the transmitting unit and the receiving unit are initially aligned in the X-axis direction;
Step six, the emission communication controller controls the mechanical arm on the charging emission platform to extend or retract along the Y-axis direction, and can also control the driving mechanism of the mobile chassis to enable the charging emission platform to advance or retract along the Y-axis direction in the mobile channel so as to determine the advancing or retracting direction of the Y-axis direction;
when the radio frequency signal intensity received by the radio frequency reader and sent to the transmitting communication controller is stronger and stronger, the distance d calculated by the transmitting communication controller is smaller and smaller, and the distance d is the correct movement direction; when the movement direction is determined, the transmitting communication controller controls the driving mechanism of the mobile chassis to enable the charging transmitting platform to approach to the direction in which the receiving unit is positioned; when the distance d calculated by the emission communication controller is continuously reduced and the Y-axis direction is within the range of the extending operation of the mechanical arm, the emission communication controller controls the movable chassis to stop moving;
step seven, the transmitting communication controller controls the mechanical arm on the charging transmitting platform to move upwards or downwards in the vertical direction of the space plane, and when the radio frequency signal intensities of the four radio frequency tags received by the radio frequency reader and sent to the transmitting communication controller are equal, or the difference of the radio frequency signal intensities of the radio frequency tags can not be reduced any more, the transmitting unit and the receiving unit are initially aligned in the height direction;
Step eight, calculating a certain deviation of the distance from the strength of the radio frequency signal to realize positioning, and further finishing accurate alignment of the transmitting unit and the receiving unit after finishing preliminary alignment by the radio frequency tag;
after the primary alignment is finished through the radio frequency tag, the transmitting communication controller and the receiving communication controller respectively open the photoelectric switch transmitter and the photoelectric switch receiver, the photoelectric switch transmitter sends out optical signals, the transmitting communication controller controls the mechanical arm to move up, down, left and right in parallel in the vertical direction of the space plane by taking the primary aligned position as the center, and the moving range takes the theoretical deviation of the positioning of the radio frequency tag as a reference, so that the range needs to be calibrated in advance; when the receiving communication controller collects the light signals sent by the photoelectric switch transmitter and received by the photoelectric switch receiver in the moving process of the mechanical arm, the receiving communication controller sends the information of the received light signals to the transmitting communication controller, and the transmitting communication controller controls the mechanical arm to stop moving in parallel and slowly extend along the Y-axis direction and approach the receiving unit until the transmitting unit and the receiving unit are completely contacted and attached;
the transmitting communication controller sends the contact fitting completion information of the transmitting unit and the receiving unit to the receiving communication controller, the receiving communication controller receives the contact fitting completion information and confirms that the photoelectric switch receiver can still receive the optical signal sent by the photoelectric switch transmitter, and the receiving communication controller confirms that the accurate alignment positioning of the transmitting unit and the receiving unit is completed and sends a confirmation signal of the accurate alignment completion to the transmitting communication controller;
Step nine, after the transmitting communication controller receives a confirmation signal that the transmitting unit and the receiving unit are accurately aligned, the transmitting communication controller controls the charging system to firstly send a low-power electric energy to be transmitted to the receiving end of the electric automobile, if the receiving communication controller detects that the received electric energy power meets a system design value, information is sent to the transmitting communication controller, the transmitting communication controller controls the output power to be gradually increased to start charging, and if the system design value is not met, the steps are repeated to reposition;
when the electric automobile is charged, the voltage and the current required by charging the power battery are sent to the transmitting communication controller through the receiving communication controller, and the PFC unit, the inversion unit, the transmitting resonance unit and the compensation network are controlled by the transmitting communication controller to complete corresponding energy conversion and transmission;
the wireless charging of the electric automobile adopts an electric field coupling mode, a power supply on a charging transmitting platform is connected with an external alternating current input end through an extensible flexible power supply cable, the power supply supplies power for a transmitting communication controller, a photoelectric switch transmitter, a mobile chassis and a mechanical arm, and meanwhile, the power supply is connected with a PFC unit;
And step ten, when the electric quantity of the power battery of the vehicle is full, the power supply is closed, the alternating current input transmitted to the PFC unit is stopped from being charged, the mechanical arm withdraws the transmitting unit, and the charging transmitting platform leaves the charging position.
2. The automatic wireless charging method of claim 1, wherein the transmitting unit and the receiving unit are in full contact and fit, when the radio frequency signal intensity of each radio frequency tag received by the radio frequency reader and sent to the transmitting communication controller is equal to the corresponding signal intensity P (d 0 ) And when the mechanical arm can not be extended and moved forwards any more, the transmitting unit and the receiving unit are completely contacted and attached, wherein the signal intensity P (d) 0 ) Advanced calibration is also required.
3. The method for automatically and wirelessly charging a capacitive coupling type electric automobile of claim 1, wherein the mechanical arm is a multi-degree-of-freedom cooperative robot.
4. The automatic wireless charging method of a capacitively coupled electric vehicle of claim 1, wherein said PFC unit includes: the power frequency alternating current input from the outside is sent to the PFC unit through a power supply, and is converted into direct current through rectification and filtering; the direct current is sent to the transmitting inversion unit, then the direct current is inverted into high-frequency alternating current, the high-frequency alternating current is boosted by the transmitting resonance unit, and the high-frequency and high-voltage alternating current is applied to the transmitting polar plate through the compensation network.
5. The automatic wireless charging method of a capacitively coupled electric vehicle of claim 1, wherein the compensation network is operative to tune LC resonance formed between a coupling capacitor and an inductance of the resonant unit to improve transmission power and efficiency; the compensation network may employ one of voltage series resonance compensation, current parallel resonance compensation, or composite resonance compensation.
6. The method for automatic wireless charging of a capacitively coupled electric vehicle of claim 1, wherein said wireless communication employs: wi-Fi, zigbee, bluetooth, millimeter wave or ultra-wideband communication modes.
7. The automatic wireless charging method of a capacitively coupled electric vehicle according to claim 1, wherein the receiving unit is mounted on a side surface, a head, a tail, a roof or a bottom of the electric vehicle body.
8. The automatic wireless charging method of a capacitively coupled electric vehicle of claim 4, wherein the housings of the transmitting unit and the receiving unit are made of an insulating material; the transmitting polar plate and the receiving polar plate are manufactured by adopting one or combination of copper foil, aluminum foil or carbon materials.
9. The method of claim 7, wherein the transmitting electrode plate and the receiving electrode plate are thin film electrodes made of conductive polymer, and the transmitting electrode plate and the receiving electrode plate are encapsulated in an insulating material for increasing capacitance and maintaining good insulation of the transmitting electrode plate and the receiving electrode plate.
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