CN110370958A - A kind of positioning auxiliary detection system of wireless charging - Google Patents
A kind of positioning auxiliary detection system of wireless charging Download PDFInfo
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- CN110370958A CN110370958A CN201910784118.0A CN201910784118A CN110370958A CN 110370958 A CN110370958 A CN 110370958A CN 201910784118 A CN201910784118 A CN 201910784118A CN 110370958 A CN110370958 A CN 110370958A
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- 230000003068 static effect Effects 0.000 description 3
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Classifications
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- 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
-
- 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
- B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
-
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
- B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
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- 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
- 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
- Y02T90/12—Electric charging stations
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The present invention provides a kind of positioning auxiliary detection systems of wireless charging, including lateral correcting unit, the transverse direction correcting unit includes left detection coil, right detection coil, first voltage sensor, second voltage sensor, threshold voltage source, first voltage comparator, second voltage comparator and DSP microprocessor, the voltage signal of the right detection coil is acquired by the first voltage sensor, an input terminal of first voltage comparator is passed to after filter unit again, another input terminal of first voltage comparator connects threshold voltage source, the output end of the first voltage comparator connects DSP microprocessor through signal conversion unit.The present invention is mounted on the left detection coil of vehicle bottom and the voltage value of right detection coil by acquisition, and difference is obtained compared with threshold voltage, then is transformed to location information and realizes lateral position correction.
Description
Technical field
The invention belongs to dynamic radio charging technique fields, more particularly, to a kind of positioning auxiliary detection system of wireless charging
System.
Background technique
Electric automobile energy cleaning and free of contamination advantage have obtained the extensive attention of national governments.However, battery uses
The problems such as service life is short, cruising ability difference and long charging time limits the development of ev industry, therefore, part research work
Person starts to explore other electric vehicle charging modes.Hereafter, wireless power transmission technology is applied in electric car charging.
Although the static wireless charging technology developed previously can reduce the power of electric car outfit to a certain extent
Battery capacity, but battery energy storage is still used, therefore static charging technique is limited in electric car charging by battery key index
In cannot give full play to its advantage.Hereafter a kind of dynamic radio power supply technique based on more armature winding parallel ways is proposed,
The technology powers in real time to the receiving coil of vehicle bottom by being embedded in several segmented transmitting coils under road, because without
Use battery.However, this scheme has two big major defects to be at present, first is that working as the loading coil of vehicle and being embedded under road surface
When transversion malposition occurs for source coil, the reduction for receiving power and efficiency is also resulted in；Second is that transmitting terminal switching will lead to transmission function
Stability of the rate influence of fluctuations by electric body.
Electric car conventional mapping methods include using general biographies such as traditional infrared ray, laser, ultrasonic wave, RFID
Sensor sends letter by the signal receiving device that vehicle-mounted sender unit is installed above each guide rail on road surface
It number detects the position of vehicle, implements and be easier to, but this kind of sensor is more suitable for enclosed system, such as rail traffic,
It is very improper for the automobile operated on open highway, the reason is that the use of this kind of sensor has many limits
System, for example signal generally can not be blocked, and cannot work in strong alternating electromagnetic field, detection range excessively closely or too far, work
It is influenced by weather, road pavement is additionally needed to be transformed and many detection devices is installed, both unreliable, cost is also high.
Summary of the invention
In view of this, the present invention passes through lateral correcting unit and the realization of auxiliary switch control unit is real-time to electric car
Positioning, can not only be corrected the lateral shift of electric car, but also can combine corresponding transmitting terminal switching control plan
Slightly, transmitting terminal is switched front and back output-power fluctuation to be preferably minimized.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of positioning auxiliary detection system of wireless charging, including lateral correcting unit, the transverse direction correcting unit include
Left detection coil, right detection coil, first voltage sensor, second voltage sensor, threshold voltage source, first voltage compare
Device, second voltage comparator and DSP microprocessor,
The voltage signal of the right detection coil is acquired by the first voltage sensor, then is transmitted after filter unit
To an input terminal of first voltage comparator, another input terminal of first voltage comparator connects threshold voltage source, described
The output end of first voltage comparator connects DSP microprocessor through signal conversion unit；
The voltage signal of the left detection coil is acquired by the second voltage sensor, then is transmitted after filter unit
To an input terminal of second voltage comparator, another input terminal of second voltage comparator connects threshold voltage source, described
The output end of second voltage comparator connects DSP microprocessor, the microprocessor signals connection control through signal conversion unit
The automatic steering system in vehicle driving direction.
Further, second-order low-pass filter has been sequentially connected in series between the first voltage sensor and first voltage comparator
Device and ratio-voltage follower；
Second-order low-pass filter and ratio have been sequentially connected in series between the second voltage sensor and second voltage comparator
Voltage follower.
Further, the auxiliary switch control unit includes preceding switch detection unit, switchs detection unit afterwards, before described
Switch detection unit and rear switch detection unit are respectively to be mounted on the preceding detection coil and rear detection coil of electric car bottom.
Compared with the existing technology, present invention has the advantage that
(1) voltage value of the left detection coil and right detection coil of the invention that vehicle bottom is mounted on by acquisition, and with
Threshold voltage relatively obtains difference, then is transformed to location information and realizes lateral position correction.
(2) present invention installs preceding detection coil and rear detection coil in vehicle bottom, cooperates two transmitting coil midpoints
Installation electromagnetic sensor realizes that two front and backs are separated by being switched on or off for transmitting coil and electromagnetic sensor.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the entire block diagram of transverse direction correcting unit described in the embodiment of the present invention；
Fig. 2 is the circuit diagram of right detection coil part described in the embodiment of the present invention；
Fig. 3 is the circuit diagram of the voltage comparator of right detection coil connection described in the embodiment of the present invention；
Fig. 4 is the first position figure of receiver coil in one cycle described in the embodiment of the present invention；
Fig. 5 is the 2nd location drawing of receiver coil in one cycle described in the embodiment of the present invention；
Fig. 6 is the 3rd location drawing of receiver coil in one cycle described in the embodiment of the present invention；
Fig. 7 is the 4th location drawing of receiver coil in one cycle described in the embodiment of the present invention；
Fig. 8 is the functional block diagram of auxiliary switch control unit described in the embodiment of the present invention；
Fig. 9 is the whole cloth of the left detection coil of the embodiment of the present invention, right detection coil, preceding detection coil and rear detection coil
Office's figure.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In addition, be previously mentioned in the present invention:
Wireless power technology: coil generates high frequency magnetic field, and electric energy is passed energy in a manner of wireless coupling from power end
It is defeated to arrive load end；
Static wireless power: by electric body during wireless charging, there are opposing stationary with receiving end for electric energy transmitting terminal
Situation.
Dynamic radio power supply: by electric body during wireless charging, there are relative motions with receiving end for electric energy transmitting terminal
Situation, charging modes include long guideway formula wireless charging and sectional guide rail formula wireless charging.
The energy transmitting guide rail of electric car wireless power technology can be divided into long guideway formula and segmented guide rail, long guideway formula
Only need a very long guide rail coil that can power to entire road, but this mode is due to guide rail self-induction of loop and resistance
Very big, leading to system, not only efficiency is very low, and resonant circuit parameters sensibility is very high, is easy to cause system unstable.
More practical scheme is the method for being segmented electrical supply rail, by the length limitation of every section of energy transmitting guide rail to and vehicle-mounted energy
Pick-up winding length is measured almost or in slightly long range, when vehicle in each section guide rail when driving, only to having vehicle upper
The guide rail of side is just powered, and is not only able to greatly improve system work efficiency in this way, high frequency magnetic field is avoided largely to be exposed on road surface
Security risk may be brought, system stability is also beneficial to.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
A kind of positioning auxiliary detection system of wireless charging of the present embodiment, including lateral correcting unit, as shown in Figure 1,
The transverse direction correcting unit includes left detection coil, right detection coil, first voltage sensor, second voltage sensor, threshold value
Voltage source, first voltage comparator, second voltage comparator and DSP microprocessor,
The voltage signal of the right detection coil is acquired by the first voltage sensor, and passes to first voltage ratio
Compared with an input terminal of device, another input terminal of first voltage comparator connects threshold voltage source, and the first voltage compares
The output end of device connects DSP microprocessor through signal conversion unit；
The voltage signal of the left detection coil is acquired by the second voltage sensor, and passes to second voltage ratio
Compared with an input terminal of device, another input terminal of second voltage comparator connects threshold voltage source, and the second voltage compares
The output end of device connects DSP microprocessor through signal conversion unit；
The microprocessor establishes the output signal of second voltage comparator and lateral deviation position y according to FUZZY ALGORITHMS FOR CONTROL
Offset distance is transferred to automatic steering system by functional relation, and then estimate out the offset distance of vehicle, and assist driver is by position
It is modified.
The voltage of the receiving coil of vehicle on alignment position is measured, and sets threshold voltage for this voltage, passes through threshold
Threshold voltage source provides the threshold voltage.
If the voltage in right detection coil is higher than threshold voltage, first voltage comparator exports a 5v (high electricity
It is flat), otherwise export 0V (low level).
It as shown in Figure 2,3, is the circuit diagram (left detection coil is identical) of right detection coil part, the both ends N, P connect right inspection
Two ports of test coil, by exporting energy and threshold value after first voltage sensor, second-order low-pass filter and voltage follower
Voltage UthThe U comparedR, voltage URWith threshold voltage UthΔ U is exported by first voltage comparator1.If Δ U1>0,UR>UthCoil
Right avertence；If Δ U1<0,UR<UthCoil left avertence.
For left detection coil, circuit design drawing compares left detection coil connection second voltage with right detection coil
The result Δ U of device output2If: Δ U2>0,UL>UthCoil left avertence；If Δ U2<0,UL<UthCoil right avertence.
The calculation for the deviation post y that microprocessor is realized are as follows:
Wherein, f (UL/R-Uth) indicate that the voltage difference of left and right detection coil and threshold voltage is the letter about lateral deviation position y
Number estimates lateral deviation distance y, is then input to automatic steering system as input quantity in the case where known left-right position
In.DSP microprocessor is voluntarily to program realization based on single-chip microcontroller DSP 28335, has the technology at present, belongs to the prior art,
Such as electric car automatic steering system based on fuzzy controller.
The present embodiment further includes auxiliary switch control unit, as shown in figure 8, the auxiliary switch control unit is opened before including
It closes detection unit, switch detection unit afterwards, the preceding switch detection unit and afterwards switch detection unit are respectively mounted on electronic
The preceding detection coil and rear detection coil of bottom of car.
It is embedded in the position among the every two transmitting coil of several segmented transmitting coils under road and is provided with one
Electromagnetic sensor is successively acquired preceding detection coil and rear detection coil signal by electromagnetic sensor, and is sent in corresponding
Transmitting unit is switched on or off before and after heart fuzzy Control.
Auxiliary switch control unit plays an important role in the switch-control strategy of transmitting coil, single according to auxiliary control
The switching between transmitting terminal may be implemented in member.
According to the different location of receiver coil in one cycle, which is divided into shown in following Fig. 4 to 7, (a)-
(b)-(c)-(d) is considered as a cycle.When receiving coil reaches the surface of first transmitting coil, only first at this time
Transmitting coil is opened, such as shown in (a)；Then, when the preceding detection coil in auxiliary switch control unit is transported along automobilism direction
Row is fallen into the induction region of the electromagnetic sensor of two transmitting coil middle positions, the transmitting positioned at front to midpoint
Coil 2 is opened, and two transmitting coils are electric vehicle power supply simultaneously at this time (as shown in (b))；Until rear detection coil runs to the electricity
In the induction region of Magnetic Sensor, close current electromagnetic sensor and previous transmitting unit (as shown in figure (c))；Receiving coil
When completely arriving above second transmitting coil, closes transmitting coil 1 and complete a cycle.
Electromagnetic sensor is installed in two transmitting coil midpoints, it is contemplated that Vehicle Speed and electromagnetic sensor are sent
The open and close time of delay between signal, electromagnetic sensor should be consistent with the open and close time of first transmitting coil.Work as vehicle
When reaching midpoint, electromagnetic sensor sends to blur center controller and instructs, and opens next transmitting coil and next electromagnetism
Sensor repeats a upper circulation.
Fig. 9 show the integral layout figure of left detection coil, right detection coil, preceding detection coil and rear detection coil, position
It is receiving coil in center, two above and below receiving coil coil is respectively left detection coil, right detection coil, is located at
Two coils of receiving coil or so are respectively preceding detection coil and rear detection coil.
The present embodiment passes through lateral correcting unit and the realization of auxiliary switch control unit positions electric car in real time, both
The lateral shift of electric car can be corrected, while can will be sent out in conjunction with corresponding transmitting terminal switching control strategy again
End switching front and back output-power fluctuation is penetrated to be preferably minimized.Lateral shift correction and transmitting terminal switching control are dexterously realized simultaneously
Method, and integrated design can be realized with receiving coil.
The material of detection coil is consistent with receiving coil, and the number of turns and dimension design principle are should to generate sufficiently strong signal,
It allows the microprocessor to identify, while answering that sufficiently small so that it will not interfere the power between transmitting coil and receiving coil to pass again
It is defeated.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of positioning auxiliary detection system of wireless charging, it is characterised in that: including lateral correcting unit, the laterally correction
Unit includes left detection coil, right detection coil, first voltage sensor, second voltage sensor, threshold voltage source, the first electricity
Press comparator, second voltage comparator and DSP microprocessor.
The voltage signal of the right detection coil is acquired by the first voltage sensor, then is passed to after filter unit
One input terminal of one voltage comparator, another input terminal connection threshold voltage source of first voltage comparator, described first
The output end of voltage comparator connects DSP microprocessor through signal conversion unit；
The voltage signal of the left detection coil is acquired by the second voltage sensor, then is passed to after filter unit
One input terminal of two voltage comparators, another input terminal connection threshold voltage source of second voltage comparator, described second
The output end of voltage comparator connects DSP microprocessor, DSP microprocessor signals connection control vehicle row through signal conversion unit
The automatic steering system in vehicle direction.
2. the positioning auxiliary detection system of wireless charging according to claim 1, it is characterised in that: the first voltage passes
Second-order low-pass filter and ratio-voltage follower have been sequentially connected in series between sensor and first voltage comparator；
Be sequentially connected in series between the second voltage sensor and voltage comparator second-order low-pass filter and ratio-voltage with
With device.
3. the positioning auxiliary detection system of wireless charging according to claim 1, it is characterised in that: the auxiliary switch control
Unit processed includes preceding switch detection unit, switchs detection unit, the preceding switch detection unit and rear switch detection unit point afterwards
The preceding detection coil and rear detection coil of electric car bottom Wei be mounted on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910784118.0A CN110370958B (en) | 2019-08-23 | 2019-08-23 | Wireless charging positioning auxiliary detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910784118.0A CN110370958B (en) | 2019-08-23 | 2019-08-23 | Wireless charging positioning auxiliary detection system |
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| CN110370958A true CN110370958A (en) | 2019-10-25 |
| CN110370958B CN110370958B (en) | 2024-06-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111750766A (en) * | 2020-05-28 | 2020-10-09 | 哈尔滨工业大学 | PnP type wireless power transmission position detection device based on sensor array and detection method thereof |
| CN112615440A (en) * | 2020-12-25 | 2021-04-06 | 国网北京市电力公司 | Wireless power transmission device and wireless power transmission system |
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