CN112810488A - Wireless charging system alignment method and wireless charging system alignment device - Google Patents
Wireless charging system alignment method and wireless charging system alignment device Download PDFInfo
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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
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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
- B60L53/36—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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
- B60L53/665—Methods related to measuring, billing or payment
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- 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
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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- 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
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- 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
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- 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
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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
- 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
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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
- 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
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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Abstract
The invention discloses a method and equipment for aligning a wireless charging system, wherein the method comprises the following steps: s1: judging whether a positioning electromagnetic signal is received, if so, entering a fine guidance step, and otherwise, entering a coarse guidance step; the rough guiding step is S21: acquiring first geomagnetic data of a vehicle, wherein the first geomagnetic data comprises a magnetic field strength north component, an east component and a vertical component; s22: comparing and matching the first geomagnetic data with a geomagnetic database to obtain coordinates of the vehicle; the fine guidance step is S31: receiving a positioning electromagnetic signal; s32: judging whether the positioning electromagnetic signal is credible, if so, entering S33: finishing a guiding action according to the positioning electromagnetic signal until the positioning electromagnetic signal is aligned; otherwise, the coarse boot step is carried out at the same time until the reliability is achieved. The alignment method and the alignment equipment for the wireless charging system can reduce the interference of the environment on the guiding and positioning, have two parts of a coarse guiding step and a fine guiding step, and reasonably and efficiently finish the alignment operation of the wireless charging.
Description
Technical Field
The invention relates to the field of wireless charging, in particular to an alignment method and an alignment device during wireless charging.
Background
When the electric automobile is charged wirelessly, the transmitting coil and the receiving coil need to be aligned (also called aligned) as much as possible to obtain the maximum coupling coefficient, and better coupling between the coils can realize higher energy transmission efficiency and lower magnetic field leakage. Thus an electric vehicle wireless charging system will typically include a guided alignment system that can detect the relative position of the vehicle coil (power receiving coil) and the ground coil (power transmitting coil),
in the prior art, for example, in chinese patent 202010681276.6, the change of the mutual inductance of the electromagnetic field is used to determine whether to align.
In a complex space environment, an electromagnetic field is often interfered, the actual mutual inductance coefficient of the electromagnetic field is influenced, and the positioning accuracy is lower as the distance from an electromagnetic field generating source is farther. Meanwhile, the electromagnetic field emission limit is restricted by national relevant specifications, the action range of the positioning electromagnetic field is small, when reliable position data are obtained, a driver or a parking system does not have sufficient operation space and reaction time to adjust the vehicle advancing route, coil alignment action cannot be completed correctly, and the use experience of wireless charging of the electric automobile is greatly reduced.
Disclosure of Invention
The invention provides an alignment method and an alignment device which have wide action range and are not easily interfered by environment.
A wireless charging system alignment method, comprising: reception determination step S1: judging whether a positioning electromagnetic signal is received, if so, entering a fine guidance step, and otherwise, entering a coarse guidance step; wherein the coarse guiding step is as follows: detection step S21: acquiring first geomagnetic data of a vehicle, wherein the first geomagnetic data at least comprises a magnetic field strength north component, a magnetic field strength east component and a magnetic field strength vertical component; comparison step S22: comparing and matching the first geomagnetic data with a geomagnetic database, acquiring coordinates of a vehicle, and guiding the vehicle to a charging area, wherein the charging area is an area capable of receiving the positioning electromagnetic signals; the fine guidance step is as follows: reception step S31: receiving the positioning electromagnetic signal; confidence determination step S32: judging whether the positioning electromagnetic signal is credible, if so, entering an alignment step S33: completing a guiding action at least according to the positioning electromagnetic signal until the positioning electromagnetic signal is aligned; otherwise, simultaneously performing a coarse booting step until the positioning electromagnetic signal is credible.
Preferably, in the aligning step S33, the guiding operation is further completed by combining a comparison result between the first geomagnetic data where the vehicle is located and the geomagnetic database.
Preferably, the geomagnetic database includes: a set of coordinate data and geomagnetic data at an arbitrary position; the geomagnetic data includes at least a magnetic field strength north component, a magnetic field strength east component, and a magnetic field strength vertical component.
Preferably, the geomagnetic database acquisition method is: selecting a plurality of geomagnetic acquisition points in a positioning area, acquiring coordinate data and geomagnetic data of each geomagnetic acquisition point, and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a set group; the set group of each geomagnetic acquisition point calculates a set group at all positions in the positioning area by a linear interpolation method; the positioning area covers the charging area.
Preferably, the coarse guiding step further comprises: database acquisition step S20: acquiring the geomagnetic database; the database acquisition step S20 precedes the detection step S21.
Preferably, in the step S32 of determining the reliability, the received positioning electromagnetic signal is compared with an electromagnetic database, and if the comparison result is within the error range, the comparison result is reliable, otherwise, the comparison result is not reliable; the electromagnetic database includes a set of coordinate data and electromagnetic data at any location within the charging area.
Preferably, the aligning step S33 is: the positioning electromagnetic signals are respectively received and transmitted between each signal receiving antenna of the vehicle-mounted end and each signal transmitting antenna of the ground end; judging the alignment degree according to the strength relation of each group of positioning electromagnetic signals; or, the positioning electromagnetic signals are respectively received and transmitted between each signal receiving antenna of the vehicle-mounted end and each signal transmitting antenna of the ground end; and judging the alignment degree according to the strength relation of each group of positioning electromagnetic signals and the comparison result of the first geomagnetic data and the geomagnetic data at the position of the vehicle.
Preferably, in the comparing step S22, the method for acquiring the coordinates of the vehicle is as follows: acquiring vehicle running state information, and calculating the current theoretical position of the vehicle according to the running state information; selecting the theoretical position and data around the theoretical position in a geomagnetic database, and comparing and matching the theoretical position and the data to finally obtain coordinates of the position where the vehicle is located; the vehicle running state information includes at least: acceleration and angular velocity.
Preferably, in the comparing step S22, the method for acquiring the coordinates of the vehicle is as follows: according to the running track of the vehicle, geomagnetic field measurement values of a plurality of positions on the running track are obtained, a data sequence of geomagnetic intensity is formed, and the running of the data sequence is compared and matched in the geomagnetic database so as to obtain coordinates of the position of the vehicle.
A wireless charging system alignment apparatus for the above wireless charging system alignment method, comprising: the signal transmitting antenna is used for transmitting a positioning electromagnetic signal; the signal receiving antenna is used for receiving the positioning electromagnetic signal; the system comprises a magnetometer, a vehicle and a control unit, wherein the magnetometer is used for acquiring first geomagnetic data of the vehicle; the processor is used for judging whether the positioning electromagnetic signal is received or not, judging whether the positioning electromagnetic signal is credible or not and generating a guiding instruction for the vehicle; further comprising: and the communication equipment is used for transmitting and receiving the geomagnetic database and the electromagnetic database and communicating between the ground end and the vehicle-mounted end.
The alignment method and the alignment equipment for the wireless charging system can reduce the interference of the environment on the guiding and positioning, have two parts of a coarse guiding step and a fine guiding step, and reasonably and efficiently finish the alignment operation of the wireless charging.
Drawings
Fig. 1 is a flow chart of a wireless charging system alignment method of the present invention;
fig. 2 is a schematic diagram illustrating the division of the regions in the alignment method of the wireless charging system according to the present invention;
FIG. 3 is a diagram of the components of the earth's magnetic field coordinates;
fig. 4 is a schematic diagram illustrating alignment of the wireless charging system according to the alignment method of the present invention.
Reference numerals:
a north magnetic field strength component Bx; an east component of magnetic field strength By; a magnetic field strength vertical component Bz; positioning the area A; a charging area B; an area C where the transmitting coil is located; a geomagnetic acquisition point a; and (c) electromagnetic collection points b.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention discloses an alignment method and an alignment device for a wireless charging system.
For ease of understanding, the basic operating principles of the wireless charging system, and the partial terms involved, are explained.
The wireless charging system is mainly divided into a ground end (transmitting end) and a vehicle-mounted end (receiving end), and parts for alignment are also respectively arranged at the ground end or the vehicle-mounted end. Although referred to herein as an in-vehicle terminal, the present invention is not limited to vehicles, and any device having a wireless charging function may be referred to as an in-vehicle terminal. Generally, when a vehicle is charged wirelessly, the problem of alignment may be more prominent, and for convenience of understanding, the receiving end mounted on the vehicle is referred to as an on-board end.
The ground end is provided with a signal transmitting antenna which can transmit and position contents such as electromagnetic signals, and the vehicle-mounted end is provided with a signal receiving antenna which can be matched with the signal transmitting antenna to receive the contents. The vehicle-mounted terminal is also provided with a magnetometer, and can acquire geomagnetic data of the vehicle, and the geomagnetic data of the vehicle is called first geomagnetic data for distinguishing. In some embodiments, there is also a communication device for ground-side and vehicle-side communication, through which the geomagnetic database and the electromagnetic database can be communicated.
The above-mentioned positioning electromagnetic signal is an electromagnetic wave (electromagnetic field). And the signal transmitting antenna is used for exciting and transmitting a positioning electromagnetic signal required for guiding alignment to the space. The locating electromagnetic signal is a digitally modulated electromagnetic wave (electromagnetic field) that can generally operate within the international union radio frequency band of very low and low frequencies (low and very low frequencies, i.e., from 3 kHz to 300 kHz). The emitted positioning electromagnetic signal loads the information of the signal transmitting antenna, the information is a binary code consisting of 01, for example, 0 and 1 are distinguished by high level and low level. The loading information includes ID numbers of signal transmitting antennas (for example, the number of transmitting antennas will be mentioned below, so that each transmitting antenna needs an independent number), initial signal transmitting strength, and the like, and the receiving antenna determines the signal transmitting antenna corresponding to the measured signal strength according to the ID number.
The first geomagnetic data includes at least a magnetic field strength north component Bx, a magnetic field strength east component By, and a magnetic field strength vertical component Bz. Any geomagnetic data mentioned below includes at least these three components, unless otherwise specified.
The following describes the alignment method of the wireless charging system with reference to fig. 1, and the alignment method (or alignment method) includes a receiving determination step S1, a coarse guiding step, and a fine guiding step. Herein, the alignment or alignment generally means the same meaning, that is, the power transmitting coil and the power receiving coil are aligned or aligned, so as to ensure greater working efficiency.
The reception determination step S1 is: and judging whether the positioning electromagnetic signal is received, if so, entering a fine guidance step, and otherwise, entering a coarse guidance step. The positioning electromagnetic signal refers to a signal which is sent by a signal transmitting antenna at the ground end and used for guiding the alignment of the vehicle. The positioning electromagnetic signal is generally a dedicated signal, and has a special channel or coding rule, so that the receiving end can judge whether the positioning electromagnetic signal is the positioning electromagnetic signal without being interfered by other electromagnetic signals. Or the signal transmitting antenna and the signal receiving antenna communicate with each other to verify the signal.
The rough guiding step is divided into a detecting step S21 and a comparing step S22, and in some preferred embodiments, there may be a database obtaining step S20 for obtaining a geomagnetic database before the detecting step S21.
Detection step S21: first geomagnetic data where the vehicle is located is acquired, and the first geomagnetic data can be simply expressed as [ Bx1, By1 and Bz1 ].
Comparison step S22: first earth magnetism data and earth magnetism database contrast, acquire the coordinate of vehicle place to guide the vehicle to the charging area, the charging area is for can receiving location electromagnetic signal's region.
In the geomagnetic database, a set of coordinate data and geomagnetic data at any position is provided, that is, coordinate data at any position and geomagnetic data are acquired and are in one-to-one correspondence, geomagnetic data at a corresponding position can be acquired through any coordinate, and similarly, geomagnetic data can be acquired correspondingly as information through characteristics of geomagnetic data.
The geomagnetic data in the geomagnetic database also includes at least three components, i.e., a magnetic field strength north component Bx, a magnetic field strength east component By, and a magnetic field strength vertical component Bz, and is simply expressed as Bx0, By0, and Bz 0.
In the comparison step S22, that is, the first geomagnetic data is compared with the geomagnetic data in the geomagnetic database, and when each component in the first geomagnetic data is consistent with one geomagnetic data of the set group in the geomagnetic database (or is within the allowable error range), the vehicle position at that time can be inferred. Since there may be errors in the detection results of the components in practice, the three components Bx0, By0, and Bz0 may be range values, and the positions of Bx1, By1, and Bz1 may be determined By dividing the range values.
By the above, the vehicle can be guided to the charging area after the position of the vehicle is obtained. Because the geomagnetic database includes the set group of each position, the position of the power transmitting coil is necessarily known, and therefore the vehicle can be guided to the corresponding position.
The above-mentioned charging area refers to an area capable of receiving the positioning electromagnetic signal.
The following will also refer to a positioning area, which is an area covered by the geomagnetic database and covers the charging area. As shown, the positioning area range is generally no less than the charging area, which is no less than the area of the power transmitting coil. Referring to fig. 2, the positioning area is shown by letter a, the charging area by letter B, and the transmitting coil by letter C.
In short, the positioning area is provided with the support of geomagnetic data, so that coarse guidance can be realized, and the positioning electromagnetic signals can be transmitted and received in the charging area, so that not only can the coarse guidance be realized, but also fine guidance can be realized. The division of the area is mainly set by the degree of realization of the thickness guidance.
The detailed boot procedure is described below.
The thin boot step may be divided into a receiving step S31, a trust judgment step S32, and an alignment step S33. The receiving step S31 is to receive the positioning electromagnetic signal. The confidence determination step S32 is to determine whether the received positioning electromagnetic signal is confidence. If the signal is authentic, the alignment step S33 is entered to complete the guiding action, and the alignment step S33 completes the guiding action at least according to the positioning electromagnetic signal. In some embodiments, guidance is also performed by combining the comparison result of the first geomagnetic data and the geomagnetic database, that is, by referring to two different sets of data, namely, the data of the positioning electromagnetic signal and the geomagnetic data. This may improve accuracy. The specific guidance is described in detail below. If the signal is not reliable, the rough guiding step is carried out at the same time, namely the positioning electromagnetic signal is considered to be insufficient to support the completion of the guiding action, and the vehicle is guided by using the rough guiding step.
The reason why the positioning electromagnetic signal is not reliable is many, for example, because the positioning electromagnetic signal is interfered by the environment during the propagation process, such as the influence of signal reflection and multipath effect, and the positioning electromagnetic signal has large fluctuation in a certain range at some positions.
The receiving and judging step S1 can be performed in real time in the process of guiding the alignment of the vehicle, that is, whether the positioning electromagnetic signal is received can be judged constantly, and once the positioning electromagnetic signal is not received, the coarse guiding step can be adopted at any time to perform positioning, so that the problem that the vehicle cannot be positioned due to the fact that the positioning electromagnetic signal is lost or the vehicle reaction is delayed to influence subsequent use is avoided.
The coarse guidance step may be performed synchronously with the fine guidance step, that is, in the fine guidance step, the coarse guidance step may be performed simultaneously, and of course, the guidance results need to be uniform. Generally, when the positioning electromagnetic signal is found to be unreliable in the confidence judgment step S32, the coarse booting step is used to assist. Of course, when trusted, the result of the coarse boot may be referred to correct the final boot action.
Whether the coarse boot step is performed does not affect the performance of the fine boot step, and vice versa. That is, the fine guidance step may be directly entered without the coarse guidance step. The guiding and positioning can be achieved by only performing the coarse guiding step instead of the fine guiding step, but the accuracy of the guiding and positioning may be reduced.
In the following description, in the confidence judgment step S32, the received positioning electromagnetic signal is compared with the electromagnetic database, and the comparison result is confidence within the error range, otherwise, the comparison result is not confidence; the electromagnetic database includes a set of coordinate data and electromagnetic data at any location within the charging area.
The above mentioned electromagnetic database and geomagnetic database, they can be both transferred by the communication device between the vehicle-mounted terminal and the ground terminal, or the geomagnetic database can be transferred by the communication device, the electromagnetic database is transferred by the signal transmitting antenna and the signal receiving antenna. Of course, others may be prefabricated directly in the storage device of the vehicle, etc.
The geomagnetic data includes the first geomagnetic data and the geomagnetic data in the geomagnetic database. These data are obtained based on the earth's magnetic field, are naturally occurring, and are not artificially created. However, the earth magnetic field may be influenced by human factors, for example, buildings may influence the earth magnetic field.
In a certain range, the geomagnetic fields of different areas of the earth surface are different, in areas such as buildings, parking lots and the like, due to the existence of ferromagnetic substances such as reinforcing steel bars and the movement of electric automobiles, the geomagnetic field of a parking space area is distorted by the ferromagnetic materials to form geomagnetic field intensity abnormity, and the geomagnetic field abnormity can change along with the change of the position of the parking space area, so that the earth surface has long-term stability and obvious local characteristics.
It is believed that changes in the magnitude of magnetic field anomalies over a longer period of time are only correlated with spatial geographic location, and therefore such differences in the magnitude of the earth's magnetic field can be used as a unique location identification feature. The strength of the earth's magnetic field at any point on the ground can be described in the form of a spatial coordinate system, the earth's magnetic field having seven coordinate components, as shown in fig. 3, Bx, By and Bz representing the north component of the magnetic field strength, the east component of the magnetic field strength and the vertical component of the magnetic field strength, respectively. H represents the total horizontal intensity, F represents the total intensity of the magnetic field, and D and I represent declination and declination, respectively. Wherein the north magnetic field strength component Bx, the east magnetic field strength component By and the vertical magnetic field strength component Bz can be directly obtained By the magnetometer in the geomagnetic field, and the 3 geomagnetic characteristic values are extracted for convenient use, so that the geomagnetic data at least comprises the three components. Of course, this is not limited to the use of the other four components, and in some embodiments, more components may be used for guiding positioning, which may also have a more precise positioning effect.
The three components of the north magnetic field strength component Bx, the east magnetic field strength component By and the vertical magnetic field strength component Bz are briefly described as [ Bx, By, Bz ], [ Bx, By, Bz ] can form a one-to-one correspondence with corresponding acquisition places, and finally, can form geomagnetic data in the geomagnetic database. The geomagnetic data may be used as "fingerprint data" corresponding to the collection location.
As mentioned above, in the alignment step S33, two sets of data may be used for guidance, and the positioning electromagnetic signal intensity value, the coordinate data, and the geomagnetic data at the corresponding position may be combined for a channel, which may be referred to as "mixed fingerprint data".
The following describes how to create or acquire the geomagnetic database.
Selecting a plurality of geomagnetic acquisition points a in the positioning area A, acquiring coordinate data and geomagnetic data of each geomagnetic acquisition point a, and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a set group; calculating a set group at all positions in the positioning area A through the set group of each geomagnetic acquisition point a; the positioning area A covers the charging area B.
The geomagnetic acquisition points a may be in the charging area B, as shown in fig. 2, the points a are geomagnetic acquisition points, these points are generally selected in advance at certain intervals, and coordinate data and geomagnetic data of each position are combined to form a one-to-one correspondence relationship, and the two are combined to form an aggregate group.
Based on these geomagnetic acquisition points a, a set group of other respective positions is calculated. The other sets of respective positions are calculated, for example, preferably by linear interpolation. The location of the desired stage is also generally within the location area a.
Similarly to the geomagnetic database, the electromagnetic database is provided with a plurality of electromagnetic acquisition points B in the charging area B, and the coordinate data of the corresponding position and the electromagnetic data are combined to form a corresponding relationship. Linear interpolation may also be used to calculate data at other locations, typically within charging region B. The electromagnetic data may be at least one of intensity, level value, voltage value, and the like of the electromagnetic wave.
In order to implement the above method, the present invention further discloses an alignment device for a wireless charging system, comprising: the signal transmitting antenna is used for transmitting a positioning electromagnetic signal; the signal receiving antenna is used for receiving the positioning electromagnetic signal; the system comprises a magnetometer, a vehicle and a control unit, wherein the magnetometer is used for acquiring first geomagnetic data of the vehicle; and the processor is used for judging whether the positioning electromagnetic signal is received or not, judging whether the positioning electromagnetic signal is credible or not and generating a guiding instruction for the vehicle. And the communication equipment is used for receiving and transmitting the geomagnetic database and the electromagnetic database.
In some embodiments, the signal transmitting antennas and the signal receiving antennas are distributed in a specific form to better realize positioning guidance. For example, referring to fig. 4, at the ground end, four signal transmitting antennas, shown as P1, P2, P3, P4, are provided in a rectangular manner. For convenience of understanding, we introduce the X-axis and the Y-axis and define the X-axis as the longitudinal direction of the parking space and the Y-axis as the transverse direction, and the four signal transmitting antennas P1, P2, P3 and P4 are respectively in the four quadrants consisting of the XY-axis. The preferred four signal transmitting antennas are at the periphery (four corners) of the power transmitting coil.
The signal receiving antennas are arranged at the vehicle-mounted end, and two signal receiving antennas can be arranged and distributed in a linear mode, and are shown in the figures as V1 and V2. Also for ease of understanding, the X ' axis and the Y ' axis are introduced, with the direction of travel of the vehicle being the X ' axis and the left-right direction of the vehicle being the Y ' axis, and the two signal receiving antennas are disposed along the Y ' axis, typically on either side of the power receiving coil.
The above arrangement number and arrangement positions of the signal transmitting antennas and the signal receiving antennas are preferred embodiments, and are not intended to limit the present application, and other arrangement positions and numbers capable of achieving positioning are also applicable to the present application.
The specific manner of the rough guiding step and the fine guiding step is described below as a complete example.
Since the electromagnetic signal strength is constrained by the value of the magnetic field strength that is allowed to be exposed by national regulations in a public environment. Therefore, the positioning electromagnetic signal transmitted by the signal transmitting antenna needs to be within a specific range to be received, i.e. the charging area B. Therefore, when the vehicle does not reach the area, the rough guiding step is adopted.
The vehicle is far away from the ground coil, and the positioning electromagnetic signal cannot be received. In the guiding process, the magnetometer at the vehicle-mounted end continuously measures geomagnetic field three-dimensional data of the position, namely the first geomagnetic data, and compares and matches the first geomagnetic data with the geomagnetic database. The method comprises the modes of single-point bit matching, sequence matching and the like.
The vehicle-mounted terminal also comprises an inertial navigation unit and the like, wherein the inertial navigation unit comprises an acceleration sensor, a gyroscope, an electronic compass and other instruments for acquiring the acceleration, the angular speed and the direction of the system, and the acceleration, the angular speed and the direction belong to the vehicle running state information. The speed, displacement and direction information of the vehicle are obtained by means of continuous integral operation and the like through an operation unit such as a position processor, the distance and direction angle of the vehicle advancing from the previous position are obtained, and therefore the current rough position and the vehicle state of the vehicle can be calculated.
According to the current theoretical position calculated, the geomagnetic databases at the theoretical position and the peripheral positions of the theoretical position are compared and matched quickly, generally, the comparison and the matching are performed within a certain range of the theoretical position, for example, within a range of 0.5m of radius with the theoretical position as a circle center, and compared with the comparison of all geomagnetic databases, the efficiency is higher. And determining the current position of the vehicle according to the coordinates associated with the geomagnetic data (fingerprint data) of the closest single point. That is, based on the theoretical position, a more precise range is defined in the geomagnetic database for comparison and matching, so as to improve the efficiency
Another matching algorithm is to obtain geomagnetic field measurement values of a plurality of positions on a driving track according to the driving track of the vehicle to obtain a group of geomagnetic field intensity data sequences, compare the sequence with data sequences in a geomagnetic database in terms of similarity, when the similarity of the two groups of geomagnetic sequences is larger or the difference of the two groups of geomagnetic sequences is smaller, the track matching can be considered to be successful, and a position calculation unit extracts the current position coordinates of the vehicle according to the matched track, wherein the driving track can be obtained and recorded by an inertial navigation unit.
The two methods mentioned here both require inertial navigation, but inertial navigation is not generally used for positioning alone because the accumulated error is not high in positioning accuracy, but can be used as an auxiliary for geomagnetic navigation in a short distance. The geomagnetic database is very huge, for example, the whole-database search process is long, and there may be data of multiple coordinates similar to the measured value, so that the data or track matching by inertial navigation can eliminate the wrong data.
The above two matching methods are preferable, and other methods capable of matching the first electromagnetic data with the geomagnetic database pair may also be used in the present application.
By knowing the information of the position of the vehicle in the above manner, the position relationship between the vehicle and the power transmitting coil can be acquired, or the relationship between the vehicle and the charging area B can be known, so that guidance of the vehicle can be realized, and the person skilled in the art can know whether to plan the route for the driver or complete automatic parking guidance in the following process.
Of course, the accuracy of the positioning of the geomagnetic data may be lower than the accuracy of the positioning electromagnetic signal, because the fine guidance step may be introduced after the vehicle enters the charging area B and the positioning electromagnetic signal can be received.
In the fine guiding step, each signal transmitting antenna transmits a positioning electromagnetic signal, and each signal receiving antenna receives the positioning electromagnetic signal. With the setting number, 8 groups of data are formed, P1-V1, P2-V1, P3-V1, P4-V1, P1-V2, P2-V2, P3-V2 and P4-V2. During signal interaction, information can be obtained from electrical parameters of the electromagnetic wave, such as intensity, high and low voltages, and the like. In this embodiment, the signal strength may be obtained.
And acquiring the signal intensity of the 8 groups of data, and matching and comparing in an electromagnetic database. In the process of propagation, the positioning electromagnetic signals are affected by environmental interference, such as signal reflection and multipath effect, so that the number of the electromagnetic signals at certain positions can fluctuate greatly within a certain range, and when the measured signal data cannot be matched or the calculation result is not reliable, the mode of comparing and matching the first geomagnetic data with the geomagnetic database can be continuously adopted.
According to the comparison and matching result, the position calculation unit calculates the current position coordinates of the vehicle, or can find out the coordinate data corresponding to the positioning electromagnetic signal or the first geomagnetic data in the data in comparison with the electromagnetic database or the geomagnetic database, so as to know the coordinates.
The processor or controller of the whole vehicle sends out vehicle operation instructions to enable the vehicle to gradually approach the power transmitting coil, and the y 'axis and the y axis are also gradually overlapped on the premise that the x' axis and the x axis are overlapped as much as possible.
When the vehicle-mounted coil (power receiving coil) and the vehicle-mounted coil (power transmitting coil) are very close to each other, the positioning electromagnetic signal is interfered by the environment to be reduced, the measured positioning electromagnetic signal strength data becomes more reliable, and at the moment, the accurate alignment stage, namely the fine guiding step is carried out. Based on the symmetrical configuration of the signal transmitting antenna and the signal receiving antenna, a certain signal path can be selected between the signal transmitting antenna and the signal receiving antenna, for example, the signals from V1 to P1 are compared with the signals from V2 to P2, and the smaller the difference between the signal strengths, the higher the alignment is, and when the difference is 0, the deviation between the x' axis and the x axis is 0. And a smaller difference between the signals of V1 to P1, V1 to P4, and V2 to P2, V2 to P3 indicates a smaller deviation of the y' axis from the y axis. When the alignment deviation between the vehicle-mounted coil (power receiving coil) and the vehicle-mounted coil (power transmitting coil) of the electric automobile meets the requirement of the system working range, namely the condition of starting wireless charging is met, the alignment process is guided to be completed. After completion, the completion may be confirmed by the communication device or otherwise, and the transmission of the positioning electromagnetic signal by the signal transmitting antenna is stopped.
After alignment is completed, alternating current output by a power supply is converted into direct current through a direct current converter, the direct current converter internally comprises a filter circuit, a rectifying circuit and a power factor adjusting circuit, the direct current is converted into high-frequency alternating current through an inverter and is applied to a resonant network, a ground coil is excited in an upper space to form a high-frequency alternating magnetic field, a vehicle-mounted coil generates alternating current through magnetic field coupling, the alternating current passes through the resonant network and is converted into direct current through a rectifier and a filter, and the output direct current is input to a load (generally a vehicle-mounted power battery) to charge the load. In the whole charging process, the ground equipment and the vehicle-mounted equipment exchange information through respective communication controllers, and the output of the direct current converter and the output of the inverter are adjusted according to the charging requirement, so that the output power required by the transmission of the vehicle is obtained.
The data of this application mixed geomagnetic field guide the advantage of location has reduced the data error that the environment caused, also need not additionally to deploy any infrastructure, and geomagnetic data does not also need the special maintenance in later stage because its stability is good simultaneously.
The construction, features and functions of the present invention are described in detail in the embodiments illustrated in the drawings, which are only preferred embodiments of the present invention, but the present invention is not limited by the drawings, and all equivalent embodiments modified or changed according to the idea of the present invention should fall within the protection scope of the present invention without departing from the spirit of the present invention covered by the description and the drawings.
Claims (10)
1. A wireless charging system alignment method, comprising:
reception determination step S1: judging whether a positioning electromagnetic signal is received, if so, entering a fine guidance step, and otherwise, entering a coarse guidance step; wherein,
the coarse guiding step comprises the following steps:
detection step S21: acquiring first geomagnetic data of a vehicle, wherein the first geomagnetic data at least comprises a magnetic field strength north component (Bx), a magnetic field strength east component (By) and a magnetic field strength vertical component (Bz);
comparison step S22: comparing and matching the first geomagnetic data with a geomagnetic database, acquiring coordinates of a vehicle, and guiding the vehicle to a charging area, wherein the charging area is an area capable of receiving the positioning electromagnetic signals;
the fine guidance step is as follows:
reception step S31: receiving the positioning electromagnetic signal;
confidence determination step S32: judging whether the positioning electromagnetic signal is credible, if so, entering an alignment step S33: completing a guiding action at least according to the positioning electromagnetic signal until the positioning electromagnetic signal is aligned; otherwise, simultaneously performing a coarse booting step until the positioning electromagnetic signal is credible.
2. The wireless charging system alignment method of claim 1,
in the aligning step S33, the guiding action is completed by further combining the comparison result of the first geomagnetic data where the vehicle is located and the geomagnetic database.
3. The wireless charging system alignment method of claim 1,
the geomagnetic database includes: a set of coordinate data and geomagnetic data at an arbitrary position;
the geomagnetic data includes at least a magnetic field strength north component (Bx), a magnetic field strength east component (By), and a magnetic field strength vertical component (Bz).
4. The wireless charging system alignment method of claim 1, 2, or 3,
the geomagnetic database acquisition method comprises the following steps:
selecting a plurality of geomagnetic acquisition points (a) in a positioning area, acquiring coordinate data and geomagnetic data of each geomagnetic acquisition point (a), and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a set group;
calculating the set group of all positions in the positioning area by the set group of each geomagnetic acquisition point (a) through a linear interpolation method;
the positioning area covers the charging area.
5. The wireless charging system alignment method of claim 1, 2, or 3,
the coarse guiding step further comprises:
database acquisition step S20: acquiring the geomagnetic database;
the database acquisition step S20 precedes the detection step S21.
6. The wireless charging system alignment method of claim 1,
in the step S32 of determining the reliability, the received positioning electromagnetic signal is compared with the electromagnetic database, and if the comparison result is within the error range, the positioning electromagnetic signal is determined to be reliable, otherwise the positioning electromagnetic signal is determined to be unreliable;
the electromagnetic database includes a set of coordinate data and electromagnetic data at any location within the charging area.
7. The wireless charging system alignment method of claim 1,
the alignment step S33 is:
the positioning electromagnetic signals are respectively received and transmitted between each signal receiving antenna of the vehicle-mounted end and each signal transmitting antenna of the ground end;
judging the alignment degree according to the strength relation of each group of positioning electromagnetic signals;
or,
the positioning electromagnetic signals are respectively received and transmitted between each signal receiving antenna of the vehicle-mounted end and each signal transmitting antenna of the ground end;
and judging the alignment degree according to the strength relation of each group of positioning electromagnetic signals and the comparison result of the first geomagnetic data and the geomagnetic data at the position of the vehicle.
8. The method for aligning the wireless charging system according to claim 1, wherein in the comparing step S22, the method for obtaining the coordinates of the vehicle is as follows:
acquiring vehicle running state information, and calculating the current theoretical position of the vehicle according to the running state information;
selecting the theoretical position and data around the theoretical position in a geomagnetic database, and comparing and matching the theoretical position and the data to finally obtain coordinates of the position where the vehicle is located;
the vehicle running state information includes at least: acceleration and angular velocity.
9. The wireless charging system alignment method of claim 1,
in the comparing step S22, the method for obtaining the coordinates of the vehicle location includes:
according to the running track of the vehicle, geomagnetic field measurement values of a plurality of positions on the running track are obtained, a data sequence of geomagnetic intensity is formed, and the running of the data sequence is compared and matched in the geomagnetic database so as to obtain coordinates of the position of the vehicle.
10. A wireless charging system alignment device for use in the wireless charging system alignment method of any of claims 1-9, comprising:
the signal transmitting antenna is used for transmitting a positioning electromagnetic signal;
the signal receiving antenna is used for receiving the positioning electromagnetic signal;
the system comprises a magnetometer, a vehicle and a control unit, wherein the magnetometer is used for acquiring first geomagnetic data of the vehicle;
the processor is used for judging whether the positioning electromagnetic signal is received or not, judging whether the positioning electromagnetic signal is credible or not and generating a guiding instruction for the vehicle; further comprising: and the communication equipment is used for transmitting and receiving the geomagnetic database and the electromagnetic database and communicating between the ground end and the vehicle-mounted end.
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