CN112977141A - Wireless charging guiding method for parking lot and wireless charging guiding method for vehicle - Google Patents

Wireless charging guiding method for parking lot and wireless charging guiding method for vehicle Download PDF

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Publication number
CN112977141A
CN112977141A CN202110427847.8A CN202110427847A CN112977141A CN 112977141 A CN112977141 A CN 112977141A CN 202110427847 A CN202110427847 A CN 202110427847A CN 112977141 A CN112977141 A CN 112977141A
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geomagnetic
positioning
vehicle
database
area
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CN112977141B (en
Inventor
王哲
陆钧
贺凡波
葛俊杰
马俊超
石晓峰
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Hefei Yougan Technology Co ltd
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Beijing Invispower Co Ltd
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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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of 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
    • 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]
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a parking lot wireless charging guiding method and a vehicle wireless charging guiding method, wherein the parking lot guiding method comprises the following steps: establishing a geomagnetic database, wherein the geomagnetic database comprises geomagnetic data at each position in the positioning area; the geomagnetic data at least comprises a magnetic field strength north component, a magnetic field strength east component and a magnetic field strength vertical component; sending the geomagnetic database to equipment to be charged; receiving feedback information of the equipment to be charged, and sending a positioning electromagnetic signal to the equipment to be charged when the feedback information comprises first content; when the feedback information comprises second content, starting wireless charging; the first content is: the equipment to be charged is positioned in the charging area; the second content is: and finishing the positioning of the equipment to be charged. The method feeds back the position of the vehicle through comparison of geomagnetic information, and reduces interference of electromagnetic interference on positioning and guiding.

Description

Wireless charging guiding method for parking lot and wireless charging guiding method for vehicle
Technical Field
The invention relates to the field of wireless charging, in particular to a parking lot wireless charging guiding method and a vehicle wireless charging guiding method.
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 a parking lot wireless charging guiding method and a vehicle wireless charging guiding method, and provides an alignment method and an alignment device which are not easily interfered by environment.
Parking area wireless charging guide method includes: the parking lot is divided into a positioning area and a charging area, the positioning area is positioned in the parking lot, the charging area is provided with at least one charging area, the charging area is positioned in the positioning area, and a wireless charging ground terminal is installed in the charging area; establishing a geomagnetic database, wherein the geomagnetic database comprises geomagnetic data at each position in the positioning area; the geomagnetic data at least comprises a magnetic field strength north component, a magnetic field strength east component and a magnetic field strength vertical component; sending the geomagnetic database to equipment to be charged; receiving feedback information of the equipment to be charged, and sending a positioning electromagnetic signal to the equipment to be charged when the feedback information comprises first content; when the feedback information comprises second content, starting wireless charging; wherein the first content is: the equipment to be charged is positioned in the charging area; the second content is: and finishing the positioning of the equipment to be charged.
Preferably, the method for establishing the geomagnetic database includes: selecting a plurality of first sampling points in a positioning area, acquiring coordinate data and geomagnetic data of each first sampling point, and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a first set group; and calculating a first set group of each position in the positioning area according to the first set group of the first sampling points, and combining to form a geomagnetic database.
Preferably, an electromagnetic database is established, wherein the electromagnetic database comprises electromagnetic data at each position in the charging area; the electromagnetic data at least comprises one of electromagnetic wave intensity, a level value and a voltage value, and the electromagnetic database is sent to the equipment to be charged after the first content is received.
Preferably, the electromagnetic database is transmitted together with the positioning electromagnetic signal.
Preferably, the method for establishing the electromagnetic database comprises the following steps: selecting a plurality of second sampling points in a charging area, acquiring coordinate data and geomagnetic data of each second sampling point, and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a second set group; and calculating a second set group of each position in the charging area according to the second set group of the second sampling points, and combining to form an electromagnetic database.
A wireless vehicle charging guidance method, comprising: a coarse guidance step and a fine guidance step, wherein the coarse guidance step is as follows: acquiring first geomagnetic data of a vehicle; receiving a geomagnetic database; comparing and matching the first geomagnetic data with the geomagnetic database, acquiring coordinates of the vehicle, and sending first content if the coordinates of the vehicle are located in the charging area; if not, guiding the vehicle to the charging area; the first 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 fine guiding step includes: a receiving step S11, an authentic judging step S12 and an aligning step S13, wherein the receiving step S11 is: receiving a positioning electromagnetic signal; the confidence determination step S12 is: judging whether the received positioning electromagnetic signal is credible, if so, entering an alignment step S13 to finish a guiding action, and if not, returning to a coarse guiding step; and after the vehicle finishes positioning, sending second content and starting a wireless charging function.
According to the wireless charging guiding method for the parking lot and the wireless charging guiding method for the vehicle, disclosed by the invention, coarse guiding is carried out through geomagnetic information, fine guiding is carried out by adopting positioning electromagnetic information, and the influence of environmental electromagnetic interference on positioning can be avoided.
Drawings
Fig. 1 is a flowchart of a wireless charging guidance method for a parking lot according to the present invention;
fig. 2 is a schematic diagram illustrating the division of areas in the wireless charging guidance method for a parking lot 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 guiding method for a parking lot according to 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 first sampling point a; the second sampling point 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.
A parking lot wireless charging guiding method is used for better guiding a vehicle to a parking space and aligning a power transmitting coil and a power receiving coil when the vehicle is charged wirelessly.
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.
Referring to fig. 1, the wireless charging guidance method for a parking lot of the present application includes:
the method comprises the steps of establishing a geomagnetic database, sending the geomagnetic database to equipment to be charged, and sending positioning electromagnetic signals or starting wireless charging according to feedback information. In fig. 1, both the parking lot end and the vehicle end are shown, and for the sake of understanding, the actions of the parking lot are shown by double-line boxes, and the vehicle end is shown by single-line boxes, and the communication between the two, or the transmission of signals, is shown by open lines.
Specifically, a positioning area A and a charging area B are divided in a parking lot, the positioning area A is located in the parking lot, the charging area B is provided with at least one positioning area A and located in the positioning area A, and a wireless charging ground terminal is installed in the charging area B.
Note that the division of the above regions is a region considered to be defined for convenience of description. Is a theoretical area.
Establishing a geomagnetic database, wherein the geomagnetic database comprises geomagnetic data at each position in the positioning area A; 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. 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.
The method for establishing the geomagnetic database comprises the following steps:
selecting a plurality of first sampling points a in the positioning area A, acquiring coordinate data and geomagnetic data of each first sampling point a, and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a first set group; and calculating a first set group of all positions in the positioning area A through the first set group of each first sampling point a, and finally forming a geomagnetic database, wherein the geomagnetic database comprises coordinate data and geomagnetic data of all positions.
The first sampling points a may be in the charging area B, as shown in fig. 2, the points are generally selected in advance at certain intervals, and a first set of other positions is calculated based on the first sampling points a. The first set of other respective locations is calculated, for example, preferably by linear interpolation. The location of the desired stage is also generally within the location area a. Sending the geomagnetic database to equipment to be charged; receiving feedback information of the equipment to be charged, and sending a positioning electromagnetic signal to the equipment to be charged when the feedback information comprises first content; when the feedback information comprises second content, starting wireless charging; wherein the first content is: the equipment to be charged is positioned in the charging area B; the second content is: and finishing the positioning of the equipment to be charged. It should be noted that the first and second contents mentioned herein are for convenience of understanding, and the artificially defined contents may actually be a specific electric signal for the purpose of enabling the parking lot to perform the corresponding action. That is, the specific transmission method of the first content and the second content is not limited, and may be, for example, a high-low level. The above-described "the device to be charged is located within the charging area B" may be a condition for transmitting the first content, and the "positioning of the device to be charged is completed" is a condition for transmitting the second content.
In combination with the above, the positioning area a may be understood as an area covered by the geomagnetic database, and the charging area B may be an area capable of receiving the positioning electromagnetic signal. This is of course a division for ease of understanding and explanation only. Besides this, the area C where the transmission line is located, i.e. the transmission coil is mounted, is defined.
The positioning electromagnetic signal is generally transmitted by a signal transmitting antenna at the ground end, and the vehicle-mounted end is provided with a signal receiving antenna which can be matched with the signal transmitting antenna to receive the positioning electromagnetic signal. 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 (described below for 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 vehicle-mounted terminal magnetometer obtains first geomagnetic data of the position of a vehicle, and then the first geomagnetic data is compared with the received geomagnetic database, so that the specific position of the vehicle can be judged, if the specific position of the vehicle is judged to be located in the charging area B, first content is sent to a parking lot, and if the specific position of the vehicle is not located in the charging area B, the vehicle is guided into the charging area B according to the current position, and the first content is sent after the vehicle is guided to the charging area B. Thereby, the positioning electromagnetic signal can be received, and according to the positioning electromagnetic signal, the corresponding parking space can be guided, and the alignment of the power transmitting and receiving coil is completed, at this time, the second content is transmitted to the parking lot.
And sending a geomagnetic database in combination with the parking lot and the vehicle, acquiring first geomagnetic information by the vehicle, confirming the position of the vehicle through comparison with the geomagnetic database, and guiding the vehicle to the charging area B if the vehicle is not in the charging area B, which belongs to a coarse guiding step. That is, moving the computer vehicle to the charging area B based on the geomagnetic information is a rough guide.
The use of a positioning electromagnetic signal in the charging area B belongs to the fine positioning step.
The following describes a vehicle wireless charging guidance method in conjunction with a parking lot wireless charging guidance method. For ease of understanding, the cooperation of the parking lot and the vehicle will be described together.
The parking area is earth magnetic database earlier, and the vehicle acquires first earth magnetic information, and these two actions can not be in proper order, and the parking area can be according to the vehicle condition of registering and select suitable sending, for example, the parking area entry has the control, and the parking area just continuously sends earth magnetic database after the discovery has the vehicle to get into the parking area.
The vehicle charging guiding method comprises two parts of rough guiding and fine guiding.
The coarse guiding step comprises the following steps:
first geomagnetic data where the vehicle is located is acquired, and the first geomagnetic data can be simply expressed as [ Bx1, By1 and Bz1 ]. The first geomagnetic data is compared with the geomagnetic database, so that coordinates of the vehicle are obtained, and if the first geomagnetic data is in the charging area B, the first geomagnetic data is sent to the parking lot. If not, the vehicle is guided to the charging area B.
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.
When the first geomagnetic data is compared with the geomagnetic data in the geomagnetic database, and each component in the first geomagnetic data is consistent with one geomagnetic data in the set group in the geomagnetic database (or within an allowable error range), the position of the vehicle at the moment can be deduced. 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.
When the vehicle is located in the charging area B, the first content is sent, and when the parking lot receives the first content, the positioning electromagnetic signal is sent, and in some embodiments, the positioning electromagnetic signal and the electromagnetic database are also sent together for vehicle verification and judgment.
And after the vehicle receives the positioning electromagnetic signal, the fine guidance step is carried out.
Referring to fig. 1, the thin boot step may be divided into a receiving step S11, a credibility judging step S12, and an aligning step S13. The receiving step S11 is to receive the positioning electromagnetic signal. The confidence determination step S12 is to determine whether the received positioning electromagnetic signal is confidence. If the signal is authentic, the alignment step S13 is entered to complete the guiding action, and the alignment step S13 completes the guiding action at least according to the positioning electromagnetic signal. After the guiding action is finished, second content is sent to the parking lot, the parking lot is indicated to be in the power transmitting and receiving coil alignment state, and wireless charging can be started. If not, returning to the coarse boot step. Since the first content is not transmitted until the vehicle is in the charging area B, and the parking lot transmits the positioning electromagnetic signal, even if the rough guidance step is returned in the confidence determining step S12, the fine guidance step is generally returned, so that the confidence determining step S12 can be performed a plurality of times until the guidance is completed with confidence. Even if the trusted judgment step is carried out for a plurality of times, the second content is sent after the positioning guidance is finally completed.
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 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 S12, 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 S12, 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.
Similarly to the geomagnetic database, the electromagnetic database sets a plurality of second sampling points B in the charging area B, and similarly combines the coordinate data of the corresponding positions with the electromagnetic data 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, or the like of the electromagnetic wave.
As mentioned above, in the alignment step S13, 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".
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.
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 positioning electromagnetic signal may not be transmitted temporarily.
The vehicle is far away from the ground coil, and the positioning electromagnetic signal cannot be received, so that the positioning electromagnetic signal cannot be sent at the moment, the electric energy is saved, and the interference possibly caused by sending the positioning electromagnetic signal to other positions is also avoided. 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 end also comprises an inertial navigation unit and the like, and comprises an acceleration sensor, a gyroscope, an electronic compass and other instruments for acquiring the acceleration and the angular velocity of the system, and an operation unit such as a position processor and the like obtains the velocity, the displacement and the direction information of the vehicle through continuous integral operation and other modes, and obtains the advancing distance and the advancing direction angle of the vehicle from the previous position, so that 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 parking lot control transmits the positioning electromagnetic signal after the vehicle enters the charging area B, and a fine guidance step may be introduced.
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 of the positioning electromagnetic signal or the first geomagnetic data in the respective databases in the 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 the alignment is finished, the vehicle sends a second content to the parking lot, after the second content is received, alternating current output by the power supply is converted into direct current through the 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 the inverter and is applied to the resonant network, a ground coil is excited in an upper space to form a high-frequency alternating magnetic field, the vehicle-mounted coil generates alternating current through magnetic field coupling, the alternating current is converted into direct current through the resonant network and the rectifier and the 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 (7)

1. Parking area wireless charging guide method, its characterized in that includes:
the parking lot is divided into a positioning area (A) and a charging area (B), the positioning area (A) is positioned in the parking lot, the charging area (B) is provided with at least one positioning area (A) and positioned in the positioning area (A), and a ground end for wireless charging is installed in the charging area (B);
establishing a geomagnetic database, wherein the geomagnetic database comprises geomagnetic data at each position in the positioning area (A); the geomagnetic data including at least a magnetic field strength north component (Bx), a magnetic field strength east component (By), and a magnetic field strength vertical component (Bz);
sending the geomagnetic database to equipment to be charged;
receiving feedback information of the equipment to be charged, and sending a positioning electromagnetic signal to the equipment to be charged when the feedback information comprises first content; when the feedback information comprises second content, starting wireless charging; wherein,
the first content is: the equipment to be charged is positioned in the charging area (B);
the second content is: and finishing the positioning of the equipment to be charged.
2. The parking lot wireless charging guidance method according to claim 1,
the method for establishing the geomagnetic database comprises the following steps:
selecting a plurality of first sampling points (a) in a positioning area (A), acquiring coordinate data and geomagnetic data of each first sampling point (a), and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a first set group;
and (c) calculating a first set group of each position in the positioning area (A) according to the first set group of the first sampling points (a), and combining the first set group and the first set group to form a geomagnetic database.
3. The parking lot wireless charging guidance method according to claim 1,
establishing an electromagnetic database comprising electromagnetic data at various locations within the charging area (B); the electromagnetic data includes at least one of an electromagnetic wave intensity, a level value, and a voltage value;
and after receiving the first content, sending the electromagnetic database to the equipment to be charged.
4. The parking lot wireless charging guidance method according to claim 3,
the electromagnetic database is transmitted with the positioning electromagnetic signal.
5. The parking lot wireless charging guidance method according to claim 3,
the method for establishing the electromagnetic database comprises the following steps:
selecting a plurality of second sampling points (B) in the charging area (B), acquiring coordinate data and geomagnetic data of each second sampling point (B), and enabling the coordinate data and the geomagnetic data to correspond to each other one by one to form a second set group;
and (c) calculating a second set group of each position in the charging area (B) according to the second set group of the second sampling points (B), and combining to form an electromagnetic database.
6. A wireless charging guidance method for a vehicle, comprising: a coarse guidance step and a fine guidance step, wherein,
the coarse guiding step comprises the following steps: acquiring first geomagnetic data of a vehicle; receiving a geomagnetic database;
comparing and matching the first geomagnetic data with the geomagnetic database, acquiring coordinates of the vehicle, and sending first content if the coordinates of the vehicle are located in the charging area (B); if not, directing the vehicle to the charging area (B);
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).
7. The vehicle wireless charging guidance method according to claim 6,
the fine guidance step includes: a receiving step S11, an authentic judging step S12, and an aligning step S13, wherein,
the receiving step S11 is: receiving a positioning electromagnetic signal;
the confidence determination step S12 is: judging whether the received positioning electromagnetic signal is credible, if so, entering an alignment step S13 to finish a guiding action, and if not, returning to a coarse guiding step;
and after the vehicle finishes positioning, sending second content and starting a wireless charging function.
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