WO2023036072A1 - 无线充电设备及其控制方法、控制装置、可读存储介质 - Google Patents

无线充电设备及其控制方法、控制装置、可读存储介质 Download PDF

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Publication number
WO2023036072A1
WO2023036072A1 PCT/CN2022/116991 CN2022116991W WO2023036072A1 WO 2023036072 A1 WO2023036072 A1 WO 2023036072A1 CN 2022116991 W CN2022116991 W CN 2022116991W WO 2023036072 A1 WO2023036072 A1 WO 2023036072A1
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WIPO (PCT)
Prior art keywords
charging
wireless charging
secondary coil
coordinates
coil
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PCT/CN2022/116991
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English (en)
French (fr)
Inventor
万鹏程
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Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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Publication of WO2023036072A1 publication Critical patent/WO2023036072A1/zh
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; 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
    • H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/70—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the mechanical construction
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • the present application belongs to the technical field of electronic equipment, and in particular relates to a wireless charging equipment, a control method thereof, a control device, and a readable storage medium.
  • wireless charging since wireless charging does not require a charging cable, it has the characteristics of instant charging, etc., making the charging operation more convenient and convenient for users to charge mobile devices in fragmented time. Therefore, the charging method of mobile electronic devices tends to be from wired Charging is developing towards wireless charging.
  • Wireless charging is based on the principle of electromagnetic induction for power transmission, so the charging secondary coil in the electronic device is basically aligned with the charging primary coil in the charging device. If the charging secondary coil and the charging primary coil are not aligned, it will cause The rate of change of the magnetic induction intensity in the secondary coil decreases, resulting in a decrease in the secondary induced electromotive force, which reduces the charging efficiency or even makes it impossible to charge.
  • the present application aims to provide a wireless charging device and its control method, control device, and readable storage medium, which can automatically align the secondary coil of the electronic device placed on the charging panel with the primary coil of the wireless charging device, thereby improving Charging efficiency.
  • the embodiment of the present application provides a wireless charging device, including:
  • the housing includes a charging panel, which is used to carry electrical equipment;
  • the charging primary coil is arranged in the casing, the charging primary coil faces the electric device, and can be coupled with the charging secondary coil of the electric device to transmit electric energy to the electric device;
  • Motion components located on the charging panel
  • a first detection module at least part of the first detection module is located in the casing, and the first detection module is used to detect the position information of the charging secondary coil;
  • the controller is set in the casing and is connected with the moving component and the first detection module, and is used to control the moving component to move the position of the electric device according to the position information, so that the position of the charging secondary coil is the same as the position of the charging primary coil match.
  • the embodiment of the present application provides a control method of a wireless charging device, which is used to control the wireless charging device as provided in the first aspect.
  • the control method includes:
  • the moving component of the wireless charging device is controlled to move the position of the electric device, so that the position of the charging secondary coil matches the position of the charging primary coil.
  • an embodiment of the present application provides a control device for a wireless charging device, which is used to control the wireless charging device as provided in the first aspect.
  • the control device for controlling the wireless charging device includes:
  • the detection module is used to detect the position information of the charging secondary coil of the electrical equipment
  • the control module is used to control the moving component of the wireless charging device to move the position of the electric device according to the position information, so that the position of the charging secondary coil matches the position of the charging primary coil.
  • an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method for controlling a wireless charging device as provided in the second aspect are implemented .
  • the wireless charging device is provided with a first detection module, and the first detection module can detect the position of the electric device, that is, the charging secondary coil of the electronic device placed on the charging panel for wireless charging
  • the wireless charging device is also equipped with a moving component, which can move the position of the object set on the charging panel, so it can move the position of the wireless charging electric device according to the position information of the charging secondary coil, so as to use
  • the position of the charging secondary coil of the electric device matches the position of the charging primary coil of the wireless charging device, that is, the position of the charging secondary coil is "opposite" to the charging primary coil, so as to ensure that a sufficient rate of change of magnetic induction intensity is generated in the secondary coil , to ensure the secondary induced electromotive force, thereby improving the charging efficiency of wireless charging.
  • FIG. 1 shows one of the schematic structural diagrams of a wireless charging device according to an embodiment of the present application
  • Fig. 2 shows the second structural schematic diagram of the wireless charging device according to the embodiment of the present application
  • Fig. 3 shows a third structural schematic diagram of a wireless charging device according to an embodiment of the present application
  • Fig. 4 shows a flowchart of a control method of a wireless charging device according to an embodiment of the present application
  • Fig. 5 shows a schematic diagram of determining the current center position coordinates of the charging secondary coil in the control method of the wireless charging device according to the embodiment of the present application
  • Fig. 6 shows a structural block diagram of a control device for a wireless charging device according to an embodiment of the present application.
  • 100 wireless charging device 102 casing, 1022 charging panel, 104 charging primary coil, 106 motion component, 1062 transmission wheel, 1064 power part, 1066 universal wheel, 108 first detection module, 110 controller, 112 second detection module , 1122 sensors.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.
  • a wireless charging device, a control method thereof, a control device, and a readable storage medium according to an embodiment of the present application are described below with reference to FIGS. 1 to 6 .
  • FIG. 1 shows one of the structural schematic diagrams of the wireless charging device according to the embodiment of the present application
  • FIG. 2 shows a wireless charging device according to the embodiment of the present application
  • the second schematic diagram of the structure of the device, as shown in Figure 1 and Figure 2, the wireless charging device 100 includes:
  • the casing 102 includes a charging panel 1022, and the charging panel 1022 is used to carry electric equipment;
  • the charging primary coil 104 is arranged in the casing 102, the charging primary coil 104 faces the electric device, and can be coupled with the charging secondary coil of the electric device to transmit electric energy to the electric device;
  • the moving assembly 106 is arranged on the charging panel 1022;
  • the first detection module 108 at least part of the first detection module 108 is located in the housing 102, the first detection module 108 is used to detect the position information of the charging secondary coil;
  • the controller 110 is arranged in the housing 102 and is connected with the moving component 106 and the first detection module 108, and is used to control the moving component 106 to move the position of the electric device according to the position information, so that the position of the charging secondary coil is consistent with the The positions of the charging primary coils 104 are matched.
  • the wireless charging device 100 includes a casing 102 on which a charging panel 1022 is arranged, and a charging primary coil 104 is also arranged inside the casing 102 .
  • the wireless charging device 100 wirelessly charges the electric device, after the electric device is placed on the charging panel 1022, the charging secondary coil in the electric device is coupled with the charging primary coil 104 in the wireless charging device 100, An alternating current is induced in the charging secondary coil to provide energy for the electric device or to charge the battery in the electric device.
  • the charging panel 1022 is formed by the upper surface of the housing, the charging primary coil 104 is located below the charging panel 1022, and is arranged inside the housing 102, and the charging primary coil 104 and corresponding charging coils 104 are protected by the housing 102.
  • the circuit structure is simple in structure, which is beneficial to reduce the production cost.
  • the charging panel 1022 can be a hollow plate and is arranged on the upper part of the housing, the upper surface of the charging panel 1022 is used to carry the electric equipment, and the charging primary coil 104 is located in the inner cavity of the charging panel 1022 , forming an integral module with the charging panel 1022, so as to realize modular assembly, which is conducive to improving assembly efficiency and reducing maintenance difficulty.
  • the charging efficiency of wireless charging is higher. Since different electric devices may have different setting positions of the charging secondary coils, it is difficult for the user to accurately place the electric device at a position where the charging secondary coil is "aligned" with the charging primary coil 104 .
  • a first detection module 108 is provided in the wireless charging device 100 , and the position of the charging secondary coil in the electric device is detected through the first detection module 108 , so as to obtain the position information of the charging secondary coil.
  • the wireless charging device 100 is also provided with a moving component 106.
  • the moving component 106 can be a transmission belt, a transmission wheel 1062, a roller, etc., and the electric device can be moved through the moving component 106, thereby changing the position of the electric device on the charging panel 1022. .
  • the controller 110 controls the moving component 106 to move the position of the electric device on the charging panel 1022 according to the position information, thereby changing the charging secondary coil
  • the position of the coil relative to the charging primary coil 104 is specifically to move the electric device to a position where the charging secondary coil is "opposed" to the charging primary coil 104, so as to ensure that a sufficient rate of change of magnetic induction intensity is generated in the secondary coil, ensuring The secondary induced electromotive force improves the charging efficiency of wireless charging.
  • the wireless charging device 100 further includes: a second detection module 112, connected to the controller 110, for detecting object information on the charging panel 1022, and position information corresponding to the object information; the controller 110, further configured to control the movement component 106 to move the metal foreign object to a preset position according to the position information of the metal foreign object when the object information is a metal foreign object.
  • a second detection module 112 connected to the controller 110, for detecting object information on the charging panel 1022, and position information corresponding to the object information
  • the controller 110 further configured to control the movement component 106 to move the metal foreign object to a preset position according to the position information of the metal foreign object when the object information is a metal foreign object.
  • the wireless charging device 100 is further provided with a second detection module 112, wherein the second detection module 112 can detect the object information placed on the charging panel 1022, when the object is placed on the charging panel 1022, the second The second detection module 112 can further detect whether the placed object is an electrical device or a metal foreign object.
  • the changing magnetic field generated by the charging primary coil 104 will induce an eddy current in the metal foreign object, and this current will continue to provide Joule heat to the metal foreign object, making the metal foreign object
  • the temperature continues to increase until thermal equilibrium is reached. During this period, the temperature may rise to the extent of damaging the device or threatening the safety of the human body, causing the use risk of the wireless charging device 100 .
  • a handshake communication signal can be transmitted through the charging primary coil 104. If the response signal of the communication signal can be received, it means that the handshake is successful, and the electric device capable of wireless charging is placed on the charging panel 1022. At this time, it starts to charge the electric device based on the wireless charging protocol.
  • the motion component 106 is controlled to "remove" the metal foreign object, specifically, the metal foreign object is moved to a preset position, and the preset position is specifically the charging
  • the magnetic field strength of the primary coil 104 is less than the preset position, so after the metal foreign object is moved to the preset position, the charging primary coil 104 will not be able to form a strong eddy current in the metal foreign object, so it will not cause the metal foreign object
  • the temperature rises to a dangerous level, thereby effectively ensuring the safe use of the wireless charging device 100 .
  • the number of charging primary coils 104 is N, and the positions of the N charging primary coils 104 do not overlap, where N is a positive integer.
  • a plurality of charging primary coils 104 are set in the wireless charging device 100, specifically, N charging primary coils 104 are set in the wireless charging device 100, and the setting positions of the N charging primary coils 104 are not overlapped, and distributed in the housing 102.
  • the N charging primary coils 104 can form N circular projections on the charging panel, as shown in the dotted line figure in FIG. 2 , and the centers of the N circular projections do not coincide. .
  • adjacent circular projections at least partially intersect. In other embodiments, none of the N circular projections intersect.
  • the wireless charging device 100 can charge a plurality of electric devices at the same time, providing a wireless The experience of using the charging device 100.
  • the wireless charging device 100 further includes: a metal detection device 1122, disposed on the charging panel 1022, the metal detection device 1122 has a temperature sensor, a pressure sensor, a capacitance detection sensor, an impedance detection sensor and a magnetic sensor one or more of .
  • the metal detection device 1122 can detect the position information of the metal object on the charging panel, so as to effectively detect the metal foreign object on the charging panel 1022, prevent missed detection, and improve the use of the wireless charging device 100 safety.
  • the metal detection device 1122 includes a temperature sensor, and obtains the temperature rise state of the object on the charging panel 1022 through the temperature sensor, thereby identifying whether it is a metal foreign object.
  • the metal detection device 1122 also includes a pressure sensor, which detects the pressure value on the charging panel 1022 through the pressure sensor, so as to determine whether there is a charging device or a foreign object.
  • the metal detection device 1122 also includes a capacitance detection sensor, an impedance detection sensor, and a magnetic sensor, and judges whether there is a metal foreign object according to changes in capacitance value, impedance, and magnetic parameters, respectively. In this way, accurate detection of metal foreign objects can be realized.
  • the moving assembly includes: a transmission wheel 1062 disposed on the upper surface of the charging panel 1022 ; a power member 1064 connected with the transmission wheel 1062 for driving the transmission wheel 1062 to rotate.
  • the movement assembly 106 includes a transmission wheel 1062 and a power part 1064, wherein the power part 1064 can be a motor, and the output end of the power part 1064 is connected to the transmission wheel 1062, so as to drive the transmission wheel 1062 to follow the set direction Rotate, so that the object on the charging panel 1022 is driven to move through the transmission wheel 1062, thereby changing the position of the electric device, so that the charging secondary coil of the electric device is opposite to the charging primary coil 104 of the wireless charging device 100, or the charging panel
  • the metal foreign object on 1022 is moved to a preset position, preventing the metal foreign object from heating under the influence of the charging primary coil 104, and improving the safety of the wireless charging device 100 in use.
  • the transmission wheels 1062 include X first transmission wheels and Y second transmission wheels, the transmission direction of the first transmission wheels is the first direction, and the transmission direction of the second transmission wheels is the second direction , the angle range between the first transmission direction and the second transmission direction is: 45° to 135°, X and Y are positive integers.
  • the transmission wheel 1062 specifically includes a first transmission wheel and a second transmission wheel.
  • the first transmission wheel can drive the objects on the charging panel 1022 to move along the first transmission direction
  • the second transmission wheel can drive the objects on the charging panel 1022 to move along the second transmission direction.
  • the direction drives the object on the charging panel 1022 to move, and by setting X first transmission wheels and Y second transmission wheels, it is possible to move the electrical equipment on the charging panel 1022 in any direction to ensure the charging of the electrical equipment.
  • the secondary coil is opposite to the charging primary coil 104 of the wireless charging device 100 , or the metal foreign objects are moved out of the radiation range of the charging primary coil 104 , which ensures the charging efficiency and the safety of the wireless charging device 100 .
  • the angle range between the first transmission direction and the second transmission direction is: 45° to 135°, preferably, the first transmission direction and the second transmission direction are perpendicular.
  • FIG. 3 shows the second structural schematic diagram of the wireless charging device 100 according to the embodiment of the present application.
  • the transmission wheel 1062 is a universal wheel 1066 .
  • the transmission wheel 1062 is specifically a universal wheel 1066, and the universal wheel 1066 can rotate in any direction, so that the electric device on the charging panel 1022 can be moved in any direction to ensure the safety of the electric device.
  • the charging secondary coil is opposite to the charging primary coil 104 of the wireless charging device 100 , or the metal foreign objects are moved out of the radiation range of the charging primary coil 104 to ensure the charging efficiency and the use safety of the wireless charging device 100 .
  • FIG. 4 shows a wireless charging device according to an embodiment of the present application
  • the flowchart of the control method, as shown in Figure 4, the method comprises:
  • Step 402 detecting the location information of the charging secondary coil of the electric device
  • Step 404 control the moving component of the wireless charging device to move the position of the electric device, so that the position of the charging secondary coil matches the position of the charging primary coil.
  • the charging efficiency of wireless charging is higher.
  • different electric devices may have different setting positions of the charging secondary coils, it is difficult for the user to accurately place the electric device at a position where the charging secondary coil is "aligned" with the charging primary coil.
  • a first detection module is provided in the wireless charging device, and the position of the charging secondary coil in the electric device is detected by the first detection module, so as to obtain the position information of the charging secondary coil.
  • the number of charging primary coils is N;
  • Detect the position information of the charging secondary coil of the electrical equipment including:
  • the M target induction signals whose signal values are not 0, determine the corresponding M associated charging primary coils, and the M center position coordinates corresponding to the M associated charging primary coils, where M is positive integer;
  • the current center position coordinates of the charging secondary coil are determined, and the position information of the charging secondary coil is determined according to the current center coordinates.
  • a plurality of charging primary coils are set in the wire charging device, specifically, N charging primary coils are set in the wireless charging device, and the N charging primary coils are distributed in the casing, so as to ensure charging Most of the area on the panel is covered by the radiation field of the charging primary coil.
  • Fig. 5 shows a schematic diagram of determining the current center position coordinates of the charging secondary coil in the control method of the wireless charging device according to the embodiment of the present application.
  • N the wireless charging device includes 5
  • the five charging primary coils of the wireless charging device are first controlled to transmit detection signals respectively.
  • 3 target induction signals of signal value position 0 are determined, specifically x2, x3 and x6. According to the three target induction signals, the corresponding distance matrix is established.
  • the distance matrix is as follows:
  • mapping relationship table look up the mapping relationship between the induced signal value and the distance, and convert the distance matrix into:
  • R1 is a distance value corresponding to V1
  • R2 is a distance value corresponding to V2
  • R3 is a distance value corresponding to V3.
  • (x, y) are the center point coordinates of the charging secondary coil
  • (x1, y1) are the center point coordinates of the charging primary coil 504
  • (x2, y2) are the center point coordinates of the charging primary coil 506,
  • (x3 , y3) is the center point coordinate of the charging primary coil 512 .
  • Solving the above equations can solve the coordinates of the center point of the charging secondary coil, thereby determining the position information of the charging secondary coil, and controlling the position of the moving component moving the electric device on the charging panel according to the position information of the charging secondary coil, thereby Change the position of the charging secondary coil relative to the charging primary coil, specifically, move the electrical equipment to a position where the charging secondary coil is "opposed" to the charging primary coil, so as to ensure that a sufficient rate of change of magnetic induction intensity is generated in the secondary coil , to ensure the secondary induced electromotive force, thereby improving the charging efficiency of wireless charging.
  • controlling the moving component of the wireless charging device to move the position of the electric device, so that the position of the charging secondary coil matches the position of the charging primary coil including:
  • the motion component is controlled to move the electric device, so that the coordinates of the current center position of the charging secondary coil match the coordinates of the target center position.
  • the target center position coordinates are determined among the M center position coordinates.
  • M center position coordinates that is, the coordinates of M charging primary coils that can generate induced signals in the charging secondary coils of the electrical equipment, because these charging primary coils can generate induced signals in the charging secondary coils , so it can be determined that the M center position coordinates are closer to the current center coordinates of the charging secondary coil.
  • the target center position coordinates From the M center position coordinates, select the target center position coordinates, wherein, among the M center position coordinates, select a center position coordinate closest to the current center coordinates of the charging secondary coil as the target center position coordinates.
  • the motion component can be controlled to move the electrical equipment to the corresponding position, and the current center position coordinates of the charging secondary coil must match the target center position coordinates.
  • the difference between the current center position coordinates and the target center position coordinates is less than the preset threshold, so as to ensure sufficient magnetic induction intensity change rate in the secondary coil, ensure the secondary induced electromotive force, and improve the charging efficiency of wireless charging.
  • control method before detecting the position information of the charging secondary coil of the electric device, the control method further includes:
  • a communication signal is sent through the charging primary coil
  • the object information is determined to be an electrical device
  • sensors such as temperature sensors, pressure sensors, capacitance detection sensors, impedance detection sensors, or magnetic sensors may be provided on the charging panel.
  • sensors such as temperature sensors, pressure sensors, capacitance detection sensors, impedance detection sensors, or magnetic sensors may be provided on the charging panel.
  • the sensor as an example of a pressure sensor, if it is detected that there is a pressure value on the charging panel, it is determined that there is an object on the charging panel. At this time, the object information on the charging panel is further judged.
  • the charging primary coil can be coupled with other metal objects, causing the object to heat up, or the capacitance, impedance or magnetic parameters to change, the detection of the object can also be achieved through the temperature sensor, capacitance detection sensor, impedance sensor and magnetic sensor.
  • the charging primary coil is controlled, a communication signal is sent to the object on the charging panel, and a response signal is received. If the object on the charging panel is an electric device, the charging secondary coil of the electric device can generate an induction signal according to the communication signal, thereby identifying the charging primary coil, and sending the induction signal to the The charging primary coil realizes the handshake communication based on the wireless charging protocol.
  • the response signal returned by the charging secondary coil is received within the preset time period, it means that the current object information on the charging panel is a power-consuming device. At this time, power can be provided to the power-consuming device through the wireless charging protocol.
  • the charging primary coil is controlled not to work, preventing metal foreign objects from heating under the influence of the magnetic field of the charging primary coil, and ensuring the working safety of the wireless charging device.
  • the position information of the metal foreign object is detected; according to the position information of the metal foreign object, the motion component is controlled to move the metal foreign object to a preset position, wherein the preset position The location where the magnetic field strength of the charging primary coil of the wireless charging device is less than a preset strength.
  • the changing magnetic field generated by the charging primary coil will induce an eddy current in the metal foreign object, and this current will continue to provide Joule heat to the metal foreign object, making the metal foreign object
  • the temperature continues to rise until thermal equilibrium is reached. During this period, the temperature may rise to the point of damaging the device or threatening the safety of the human body, posing risks to the use of wireless charging devices.
  • the motion component is controlled to "remove" the metal foreign object, specifically, the metal foreign object is moved to a preset position, and the preset position is specifically the charging primary coil
  • the preset position is specifically the charging primary coil
  • FIG. 6 shows a wireless charging device according to an embodiment of the present application
  • the structural block diagram of the control device, as shown in Figure 6, the control device 600 of the wireless charging device includes:
  • a detection module 602 configured to detect the position information of the charging secondary coil of the electric device
  • the control module 604 is configured to control the moving component of the wireless charging device to move the position of the electric device according to the position information, so that the position of the charging secondary coil matches the position of the charging primary coil.
  • the charging efficiency of wireless charging is higher.
  • different electric devices may have different setting positions of the charging secondary coils, it is difficult for the user to accurately place the electric device at a position where the charging secondary coil is "aligned" with the charging primary coil.
  • a first detection module is provided in the wireless charging device, and the position of the charging secondary coil in the electric device is detected by the first detection module, so as to obtain the position information of the charging secondary coil.
  • the number of charging primary coils is N;
  • the control module is also used to control the N charging primary coils to send detection signals respectively, and obtain N induction signals respectively generated by the charging secondary coils according to the N detection signals;
  • the control device of the wireless charging device further includes: a first determination module, configured to, among the N induced signals, determine the corresponding M associated charging primary coils according to the M target induced signals whose signal values are not 0, and M M center position coordinates corresponding to the associated charging primary coils, wherein M is a positive integer;
  • the first determining module is further configured to establish a corresponding distance matrix according to the N induced signals;
  • the first determining module is further configured to determine the current center position coordinates of the charging secondary coil according to the distance matrix and the M center position coordinates, and determine the position information of the charging secondary coil according to the current center coordinates.
  • a plurality of charging primary coils are set in the wire charging device, specifically, N charging primary coils are set in the wireless charging device, and the N charging primary coils are distributed in the casing, so as to ensure charging Most of the area on the panel is covered by the radiation field of the charging primary coil.
  • the position of the primary coil is specifically to move the electrical equipment to a position where the charging secondary coil is "opposed" to the charging primary coil, so as to ensure a sufficient rate of change of magnetic induction intensity in the secondary coil and ensure the secondary induced electromotive force, Thus, the charging efficiency of wireless charging is improved.
  • the first determination module is also used to determine the target center position coordinates at the M center position coordinates
  • the control module is also used to control the motion component to move the electric device according to the target center position coordinates and the target charging primary coil center position coordinates, so that the current center position coordinates of the charging secondary coil match the target center position coordinates.
  • the target center position coordinates are determined among the M center position coordinates.
  • M center position coordinates that is, the coordinates of M charging primary coils that can generate induced signals in the charging secondary coils of the electrical equipment, because these charging primary coils can generate induced signals in the charging secondary coils , so it can be determined that the M center position coordinates are closer to the current center coordinates of the charging secondary coil.
  • the target center position coordinates From the M center position coordinates, select the target center position coordinates, wherein, among the M center position coordinates, select a center position coordinate closest to the current center coordinates of the charging secondary coil as the target center position coordinates.
  • the motion component can be controlled to move the electrical equipment to the corresponding position, and the current center position coordinates of the charging secondary coil must match the target center position coordinates.
  • the difference between the current center position coordinates and the target center position coordinates is less than the preset threshold, so as to ensure sufficient magnetic induction intensity change rate in the secondary coil, ensure the secondary induced electromotive force, and improve the charging efficiency of wireless charging.
  • the detection module is also used to detect object information on the charging panel of the wireless charging device
  • the control device of the wireless charging device further includes: a communication module, configured to send a communication signal through the charging primary coil when the object information is detected;
  • the second determination module is configured to determine that the object information is an electrical device when a response signal corresponding to the communication signal is received within a preset time period;
  • the second determining module is further configured to determine that the object information is a metal foreign object when no response signal is received within a preset time period.
  • sensors such as temperature sensors, pressure sensors, capacitance detection sensors, impedance detection sensors, or magnetic sensors may be provided on the charging panel.
  • sensors such as temperature sensors, pressure sensors, capacitance detection sensors, impedance detection sensors, or magnetic sensors may be provided on the charging panel.
  • the sensor as an example of a pressure sensor, if it is detected that there is a pressure value on the charging panel, it is determined that there is an object on the charging panel. At this time, the object information on the charging panel is further judged.
  • the charging primary coil can be coupled with other metal objects, causing the object to heat up, or the capacitance, impedance or magnetic parameters to change, the detection of the object can also be achieved through the temperature sensor, capacitance detection sensor, impedance sensor and magnetic sensor.
  • the charging primary coil is controlled, a communication signal is sent to the object on the charging panel, and a response signal is received. If the object on the charging panel is an electric device, the charging secondary coil of the electric device can generate an induction signal according to the communication signal, thereby identifying the charging primary coil, and sending the induction signal to the The charging primary coil realizes the handshake communication based on the wireless charging protocol.
  • the response signal returned by the charging secondary coil is received within the preset time period, it means that the current object information on the charging panel is a power-consuming device. At this time, power can be provided to the power-consuming device through the wireless charging protocol.
  • the charging primary coil is controlled not to work, preventing metal foreign objects from heating under the influence of the magnetic field of the charging primary coil, and ensuring the working safety of the wireless charging device.
  • the detection module is also used to detect the position information of the metal foreign object when the object information is a metal foreign object;
  • the control module is also used to control the moving component to move the metal foreign object to a preset position according to the position information of the metal foreign object, wherein the preset position is a position where the magnetic field strength of the charging primary coil of the wireless charging device is lower than the preset strength.
  • the changing magnetic field generated by the charging primary coil will induce an eddy current in the metal foreign object, and this current will continue to provide Joule heat to the metal foreign object, making the metal foreign object
  • the temperature continues to rise until thermal equilibrium is reached. During this period, the temperature may rise to the point of damaging the device or threatening the safety of the human body, posing risks to the use of wireless charging devices.
  • the motion component is controlled to "remove" the metal foreign object, specifically, the metal foreign object is moved to a preset position, and the preset position is specifically the charging primary coil
  • the preset position is specifically the charging primary coil
  • the control device of the wireless charging device in the embodiment of the present application may be a device, or may be a component, an integrated circuit, or a chip in a terminal.
  • the device may be a mobile electronic device or a non-mobile electronic device.
  • the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle electronic device, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant).
  • non-mobile electronic devices can be servers, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (television, TV), teller machine or self-service machine, etc., this application Examples are not specifically limited.
  • Network Attached Storage NAS
  • personal computer personal computer, PC
  • television television
  • teller machine or self-service machine etc.
  • the control device of the wireless charging device in the embodiment of the present application may be a device with an operating system.
  • the operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in this embodiment of the present application.
  • control device for the wireless charging device provided in the embodiment of the present application can implement various processes implemented in the foregoing method embodiments, and details are not repeated here to avoid repetition.
  • a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the program or instructions are executed by a processor, the steps of the method provided in any of the above-mentioned embodiments are implemented. Therefore, the readable storage medium also includes all beneficial effects of the method in any one of the above embodiments, and to avoid repetition, details are not repeated here.
  • references to the terms “one embodiment,” “some embodiments,” “exemplary embodiments,” “example,” “specific examples,” or “some examples” are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present application.
  • schematic representations of the above terms do not necessarily refer to the same embodiment or example.
  • the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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Abstract

一种无线充电设备及其控制方法、控制装置、可读存储介质，属于电子设备技术领域，其中，无线充电设备包括：壳体，包括充电面板，充电面板用于承载用电设备；充电初级线圈，设于壳体内，充电初级线圈朝向用电设备，并能够与用电设备的充电次级线圈相耦合，以向用电设备传输电能；运动组件，设于充电面板上；第一检测模块，至少部分第一检测模块位于壳体内，第一检测模块用于检测充电次级线圈的位置信息；控制器，设于壳体内，与运动组件和第一检测模块相连接用于根据位置信息，控制运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配。

Description

无线充电设备及其控制方法、控制装置、可读存储介质
相关申请的交叉引用
本申请要求于2021年09月08日提交的申请号为202111052482.1，发明名称为“无线充电设备及其控制方法、控制装置、可读存储介质”的中国专利申请的优先权，其通过引用方式全部并入本申请。
技术领域
本申请属于电子设备技术领域，具体涉及一种无线充电设备及其控制方法、控制装置、可读存储介质。
背景技术
相关技术中，由于无线充电不需要充电线，有着即放即充等特点，使充电操作更加便利，方便使用者用碎片化时间对移动设备进行充电，因此移动电子设备的充电方式趋向于从有线充电向无线充电发展。
而无线充电是基于电磁感应原理进行输电，因此需要电子设备内的充电次级线圈，和充电设备中的充电初级线圈基本对准，如果充电次级线圈和充电初级线圈没有对准，则会使次级线圈内的磁感应强度变化率降低，导致次级感应电动势降低，使得充电效率降低甚至无法充电。
发明内容
本申请旨在提供一种无线充电设备及其控制方法、控制装置、可读存储介质，能够自动将放置在充电面板上的电子设备的次级线圈与无线充电设备的初级线圈对准，从而提高充电效率。
第一方面，本申请实施例提供了一种无线充电设备，包括：
壳体，包括充电面板，充电面板用于承载用电设备；
充电初级线圈，设于壳体内，充电初级线圈朝向所述用电设备，并能够与用电设备的充电次级线圈相耦合，以向用电设备传输电能；
运动组件，设于充电面板上；
第一检测模块，至少部分第一检测模块位于壳体内，第一检测模块用于检测充电次级线圈的位置信息；
控制器，设于壳体内，与运动组件和第一检测模块相连接，用于根据位置信息，控制运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配。
第二方面，本申请实施例提供了一种无线充电设备的控制方法，用于控制如第一方面提供的无线充电设备，控制方法包括：
检测用电设备的充电次级线圈的位置信息；
根据位置信息，控制无线充电设备的运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配。
第三方面，本申请实施例提供了一种无线充电设备的控制装置，用于控制如第一方面提供的无线充电设备，控无线充电设备的控制装置包括：
检测模块，用于检测用电设备的充电次级线圈的位置信息；
控制模块，用于根据位置信息，控制无线充电设备的运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配。
第四方面，本申请实施例提供了一种可读存储介质，可读存储介质上存储程序或指令，程序或指令被处理器执行时实现如第二方面提供的无线充电设备的控制方法的步骤。
在本申请的实施例中，无线充电设备中设置有第一检测模块，通过第一检测模块能够检测用电设备，也即放在充电面板上进行无线充电的电子设备的充电次级线圈的位置信息，同时，无线充电设备还设置有运动组件，运动组件能够移动设置在充电面板上的物体的位置，因此能够根据充电次级线圈的位置信息来移动无线充电的用电设备的位置，从而使用电设备的充电次级线圈与无线充电设备的充电初级线圈的位置相匹配，也即使充电次级线圈与 充电初级线圈的位置“相对”，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了根据本申请实施例的无线充电设备的结构示意图之一；
图2示出了根据本申请实施例的无线充电设备的结构示意图之二；
图3示出了根据本申请实施例的无线充电设备的结构示意图之三；
图4示出了根据本申请实施例的无线充电设备的控制方法的流程图；
图5示出了根据本申请实施例的无线充电设备的控制方法中确定充电次级线圈的当前中心位置坐标的示意图；
图6示出了根据本申请实施例的无线充电设备的控制装置的结构框图。
附图标记：
100无线充电设备，102壳体，1022充电面板，104充电初级线圈，106运动组件，1062传动轮，1064动力件，1066万向轮，108第一检测模块，110控制器，112第二检测模块，1122传感器。
具体实施方式
下面将详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面结合图1至图6描述根据本申请实施例的无线充电设备及其控制方法、控制装置、可读存储介质。
在本申请的一些实施例中，提供了一种无线充电设备，图1示出了根据本申请实施例的无线充电设备的结构示意图之一，图2示出了根据本申请实施例的无线充电设备的结构示意图之二，如图1和图2所示，无线充电设备100包括：
壳体102，包括充电面板1022，充电面板1022用于承载用电设备；
充电初级线圈104，设于壳体102内，充电初级线圈104朝向用电设备，并能够与用电设备的充电次级线圈相耦合，以向用电设备传输电能；
运动组件106，设于充电面板1022上；
第一检测模块108，至少部分第一检测模块108位于壳体102内，第一检测模块108用于检测充电次级线圈的位置信息；
控制器110，设于壳体102内，与运动组件106和第一检测模块108相连接，用于根据位置信息，控制运动组件106移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈104的位置相匹配。
在本申请实施例中，无线充电设备100包括壳体102，壳体102上设置有充电面板1022，壳体102内还设置有充电初级线圈104。在通过无线充电设备100对用电设备进行无线充电时，将用电设备放置到充电面板1022上之后，用电设备内的充电次级线圈与无线充电设备100内的充电初级线圈104相互耦合，在充电次级线圈内感生出交变电流，从而为用电设备提供能量，或为用电设备中的电池充电。
其中，在一些实施方式中，充电面板1022由壳体的上表面形成，充电初级线圈104位于充电面板1022的下方，并设置在壳体102内部，通过壳体102保护充电初级线圈104及相应的电路结构，结构简单，有利于降低生产成本。
在另一些实施方式中，充电面板1022可以为中空的板件，并设置在壳体的上部，充电面板1022的上表面用于承载用电设备，充电初级线圈104位于充电面板1022的内部腔体内，与充电面板1022形成为一个整体的一体化模块，从而实现模块化装配，有利于提高装配效率，并降低维护难度。
由于在无线充电过程中，充电初级线圈104和充电次级线圈“对准”时，无线充电的充电效率更高。而由于不同的用电设备，其充电次级线圈的设置位置可能不同，导致了用户难以将用电设备准确放置到充电次级线圈与充电初级线圈104“对准”的位置。
因此，在无线充电设备100中设置第一检测模块108，通过第一检测模块108，对用电设备中的充电次级线圈的位置进行检测，从而得到充电次级线圈的位置信息。同时，无线充电设备100还设置有运动组件106，运动组件106可以是传动带、传动轮1062、滚轮等，通过运动组件106能够移动用电设备，从而改变用电设备在充电面板1022上放置的位置。
在第一检测模块108检测到用电设备的充电次级线圈的位置信息之后，控制器110根据该位置信息，控制运动组件106移动用电设备在充电面板1022 上的位置，从而改变充电次级线圈相对充电初级线圈104的位置，具体为将用电设备移动到能够使充电次级线圈与充电初级线圈104“相对”的位置，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，无线充电设备100还包括：第二检测模块112，与控制器110相连接，用于检测充电面板1022上的物体信息，和物体信息对应的位置信息；控制器110，还用于在物体信息为金属异物的情况下，根据金属异物的位置信息，控制运动组件106将金属异物移动至预设位置。
在本申请实施例中，无线充电设备100还设置有第二检测模块112，其中，第二检测模块112能够检测放置在充电面板1022上的物体信息，当物体放置到充电面板1022上之后，第二检测模块112能够进一步检测所放置的物体是用电设备，还是金属异物。
具体地，当充电初级线圈104的范围内存在金属异物时，充电初级线圈104产生的变化磁场会在金属异物中感生涡旋电流，该电流会持续给金属异物提供焦耳热，使金属异物的温度持续升高，直到达到热平衡。在此期间温度可能会升高到损坏设备或威胁人体安全的程度，造成无线充电设备100的使用风险。
因此，可以基于无线充电协议，通过充电初级线圈104发射一个握手通信信号，如果能够接收到该通信信号的响应信号，说明握手成功，充电面板1022上放置的是能够无线充电的用电设备，此时基于无线充电协议开始向用电设备充电。
而如果在发出握手通信信号之后，在一定时间内没有接收到响应信号，则说明此时放置在充电面板1022上的不是能够进行无线充电的用电设备，此时可以进一步判断该物体是否为金属异物，具体地，可控制充电初级线圈104工作，并检测物体的温度变化、电容值变化、阻抗变化、磁参数变化等，来判断该物体是否为金属异物。
当判定充电面板1022上存在金属异物时，则根据该金属异物的位置信息， 控制运动组件106将金属异物“移开”，具体为将金属异物移动至预设位置，该预设位置具体为充电初级线圈104的磁场强度小于预设强度的位置，因此在将金属异物移动至预设位置之后，充电初级线圈104将无法在金属异物内形成较强的涡旋电流，因此不会导致金属异物的温度升高至危险程度，从而有效地保证了无线充电设备100的使用安全。
在本申请的一些实施例中，充电初级线圈104的数量为N个，N个充电初级线圈104的设置位置不重合，其中N为正整数。
在本申请实施例中，无线充电设备100中设置有多个充电初级线圈104，具体地，在无线充电设备100中设置有N个充电初级线圈104，这N个充电初级线圈104的设置位置不重合，并在壳体102内分布设置。具体地，在垂直于充电面板的方向上，N个充电初级线圈104能够在充电面板上形成N个圆形投影，如图2所示的虚线图形，这N个圆形投影的圆心均不重合。在一些实施方式中，如图2所示，N个圆形投影中，相邻的圆形投影至少部分相交。在另一些实施方式中，N个圆形投影中均不相交。
本申请实施例通过设置N个充电初级线圈104不重合，并在壳体内分布设置，从而保证充电面板1022上的大部分面积均被充电初级线圈104的辐射范围覆盖，一方面可以使用电设备能够更加随意地放置到无线充电设备100的充电面板1022上，同时避免运动组件106大幅度改变用电设备的位置，另一方面可以使无线充电设备100同时为复数个用电设备充电，提供了无线充电设备100的使用体验。
在本申请的一些实施例中，无线充电设备100还包括：金属检测装置1122，设于充电面板1022上，金属检测装置1122具有温度传感器、压力传感器、电容检测传感器、阻抗检测传感器和磁传感器中的一种或多种。
在本申请实施例中，金属检测装置1122能够检测充电面板上的金属物体的位置信息，从而实现对充电面板1022上的金属异物进行有效地检测，防止出现漏检，提高无线充电设备100的使用安全性。
其中，金属检测装置1122包括温度传感器，通过温度传感器获取充电面 板1022上物体的升温状态，从而识别出是否是金属异物。
金属检测装置1122还包括压力传感器，通过压力传感器检测充电面板1022上的压力值，从而判断是否有充电设备或异物。
金属检测装置1122还包括电容检测传感器、阻抗检测传感器和磁传感器，分别根据电容值变化、阻抗变化和磁参数变化判断是否存在金属异物。从而实现对金属异物的准确检测。
在本申请的一些实施例中，动组件包括：传动轮1062，设于充电面板1022的上表面；动力件1064，与传动轮1062相连接，用于驱动传动轮1062转动。
在本申请实施例中，运动组件106包括传动轮1062和动力件1064，其中，动力件1064可以是电机，动力件1064的输出端与传动轮1062相连接，从而带动传动轮1062按照设定方向旋转，从而通过传动轮1062带动充电面板1022上的物体运动，从而改变用电设备的位置，以使用电设备的充电次级线圈与无线充电设备100的充电初级线圈104位置相对，或将充电面板1022上的金属异物移动至预设位置，防止金属异物在充电初级线圈104的影响下发热，提高无线充电设备100的使用安全性。
在本申请的一些实施例中，传动轮1062包括X个第一传动轮和Y个第二传动轮，第一传动轮的传动方向为第一方向，第二传动轮的传动方向为第二方向，第一传动方向和第二传动方向之间的夹角范围是：45°至135°，X和Y为正整数。
在本申请实施例中，传动轮1062具体包括第一传动轮和第二传动轮，第一传动轮能够沿第一传动方向带动充电面板1022上的物体运动，第二传动轮能够沿第二传动方向带动充电面板1022上的物体运动，通过设置X个第一传动轮和Y个第二传动轮，从而实现了能够沿任意方向移动充电面板1022上的用电设备，以保证用电设备的充电次级线圈与无线充电设备100的充电初级线圈104位置相对，或将金属异物移动至充电初级线圈104的辐射范围之外，保证了充电效率和无线充电设备100的使用安全性。
其中，第一传动方向和第二传动方向之间的夹角范围是：45°至135°， 优选地，第一传动方向和第二传动方向垂直。
在本申请的一些实施例中，图3示出了根据本申请实施例的无线充电设备100的结构示意图之二，如图3所示，传动轮1062为万向轮1066。
在本申请实施例中，传动轮1062具体为万向轮1066，万向轮1066能够向任意方向转动，从而实现了能够沿任意方向移动充电面板1022上的用电设备，以保证用电设备的充电次级线圈与无线充电设备100的充电初级线圈104位置相对，或将金属异物移动至充电初级线圈104的辐射范围之外，保证了充电效率和无线充电设备100的使用安全性。
在本申请的一些实施例中，提供了一种无线充电设备的控制方法，用于控制如上述任一实施例中提供的无线充电设备，图4示出了根据本申请实施例的无线充电设备的控制方法的流程图，如图4所示，方法包括：
步骤402，检测用电设备的充电次级线圈的位置信息；
步骤404，根据位置信息，控制无线充电设备的运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配。
在本申请实施例中，由于在无线充电过程中，充电初级线圈和充电次级线圈“对准”时，无线充电的充电效率更高。而由于不同的用电设备，其充电次级线圈的设置位置可能不同，导致了用户难以将用电设备准确放置到充电次级线圈与充电初级线圈“对准”的位置。
本申请实施例在无线充电设备中设置第一检测模块，通过第一检测模块对用电设备中的充电次级线圈的位置进行检测，从而得到充电次级线圈的位置信息。
在得到充电次级线圈的位置信息后，通过无线充电设备的运动组件，移动用电设备，从而改变充电次级线圈相对充电初级线圈的位置，具体为将用电设备移动到能够使充电次级线圈与充电初级线圈“相对”的位置，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，充电初级线圈的数量为N；
检测用电设备的充电次级线圈的位置信息，包括：
控制N个充电初级线圈分别发送探测信号，并获取充电次级线圈根据N个探测信号分别生成的N个感生信号；
在N个感生信号中，根据信号值不为0的M个目标感生信号，确定对应的M个关联充电初级线圈，和M个关联充电初级线圈对应的M个中心位置坐标，其中M为正整数；
根据N个感生信号，建立对应的距离矩阵；
根据距离矩阵，和M个中心位置坐标，确定充电次级线圈的当前中心位置坐标，根据当前中心坐标确定充电次级线圈的位置信息。
在本申请实施例中，线充电设备中设置有多个充电初级线圈，具体地，在无线充电设备中设置有N个充电初级线圈，这N个充电初级线圈在壳体内分布设置，从而保证充电面板上的大部分面积均被充电初级线圈的辐射范围覆盖。
图5示出了根据本申请实施例的无线充电设备的控制方法中确定充电次级线圈的当前中心位置坐标的示意图，如图5所示，以N＝5，也即无线充电设备包括5个充电初级线圈为例，在确定充电次级线圈的位置信息时，首先控制无线充电设备的5个充电初级线圈，分别发射探测信号。
具体地，充电初级线圈502发射第一探测信号，第一探测信号会在充电次级线圈514内生成感生信号x1，用电设备会将该感生信号发送给无线充电设备，如图5所示，充电初级线圈502距离充电次级线圈514较远，因此感生信号为0，即x1＝0。
充电初级线圈504发射第二探测信号，第二探测信号会在充电次级线圈514内生成感生信号x2，用电设备会将该感生信号发送给无线充电设备，其中，x2＝V1。
充电初级线圈506发射第三探测信号，第三探测信号会在充电次级线圈514内生成感生信号x3，用电设备会将该感生信号发送给无线充电设备，其中，x3＝V2。
充电初级线圈508发射第四探测信号，第四探测信号会在充电次级线圈514内生成感生信号x4，用电设备会将该感生信号发送给无线充电设备，其中，x4＝0。
充电初级线圈510发射第五探测信号，第五探测信号会在充电次级线圈514内生成感生信号x5，用电设备会将该感生信号发送给无线充电设备，其中，x5＝V0。
充电初级线圈512发射第六探测信号，第六探测信号会在充电次级线圈514内生成感生信号x6，用电设备会将该感生信号发送给无线充电设备，其中，x6＝V3。
进一步地，在上述6个目标感生信号中，确定信号值部位0的3个目标感生信号，具体为x2、x3和x6。根据这3个目标感生信号，建立对应的距离矩阵。
具体地，距离矩阵如下：
Figure PCTCN2022116991-appb-000001
进一步地，按照预设的映射关系表，查找感生信号值，与距离的映射关系，将距离矩阵转化为：
Figure PCTCN2022116991-appb-000002
其中，R1是V1对应的距离值，R2是V2对应的距离值，R3是V3对应的距离值。
进一步地，根据该距离矩阵，和对应的充电初级线圈504、充电初级线圈506和充电初级线圈512的中心点坐标，建立方程组如下：
(x-x1) 2+(y-y1) 2＝R1 2；
(x-x2) 2+(y-y2) 2＝R2 2；
(x-x3) 2+(y-y3) 2＝R3 2；
其中，(x，y)为充电次级线圈的中心点坐标，(x1，y1)为充电初级线圈504的中心点坐标，(x2，y2)为充电初级线圈506的中心点坐标，以及(x3，y3)为充电初级线圈512的中心点坐标。
求解上述方程，即可求解出充电次级线圈的中心点坐标，从而确定充电次 级线圈的位置信息，根据充电次级线圈的位置信息控制运动组件移动用电设备在充电面板上的位置，从而改变充电次级线圈相对充电初级线圈的位置，具体为将用电设备移动到能够使充电次级线圈与充电初级线圈“相对”的位置，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，根据位置信息，控制无线充电设备的运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配，包括：
在M个中心位置坐标，确定目标中心位置坐标；
根据目标中心位置坐标，和目标充电初级线圈的中心位置坐标，控制运动组件移动用电设备，以使充电次级线圈的当前中心位置坐标与目标中心位置坐标相匹配。
在本申请实施例中，在移动用电设备时，首先在M个中心位置坐标中，确定目标中心位置坐标。具体地，M个中心位置坐标，即能够在用电设备的充电次级线圈内产生感生信号的M个充电初级线圈的坐标，由于这些充电初级线圈能够在充电次级线圈中产生感生信号，所以可以确定这M个中心位置坐标距离充电次级线圈的当前中心坐标较近。
在M个中心位置坐标中，选出目标中心位置坐标，其中，可以在M个中心位置坐标中，选择与充电次级线圈的当前中心坐标最接近的一个中心位置坐标，作为目标中心位置坐标。
在确定目标中心位置坐标后，即可控制运动组件，将用电设备移动至对应的位置，并满足充电次级线圈的当前中心位置坐标与目标中心位置坐标相匹配，如满足充电次级线圈的当前中心位置坐标与目标中心位置坐标的差值小于预设阈值，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，在检测用电设备的充电次级线圈的位置信息之前，控制方法还包括：
检测无线充电设备的充电面板上的物体信息；
在检测到物体信息的情况下，通过充电初级线圈发出通信信号；
在预设时长内接收到通信信号对应的响应信号的情况下，确定物体信息为用电设备；
在预设时长内未接收到响应信号的情况下，确定物体信息为金属异物。
在本申请实施例中，在检测用电设备的充电次级线圈的位置信息之前，首先判断充电面板上是否有用电设备，以及充电面板上的物体是否为用电设备。
具体地，可通过在充电面板上设置传感器，如温度传感器、压力传感器，电容检测传感器、阻抗检测传感器或磁传感器。以传感器为压力传感器为例，如果检测到充电面板上存在压力值，则认定充电面板上存在物体。此时，进一步判断充电面板上的物体信息。同理，由于充电初级线圈能够与其他金属物耦合，导致物体升温，或电容、阻抗或磁参数变化，因此通过温度传感器、电容检测传感器、阻抗传感器和磁传感器同样能够实现对物体的检测。
进一步地，在检测到物体信息后，控制充电初级线圈，向充电面板上的物体发出通信信号，并接收响应信号。如果充电面板上的物体为用电设备，则用电设备的充电次级线圈能够根据通信信号产生感生信号，从而识别到充电初级线圈，并通过自身的充电次级线圈将感生信号发送到充电初级线圈，实现基于无线充电协议的握手通信。
因此，如果在预设时长内，接收到充电次级线圈返回的响应信号，则说明当前充电面板上的物体信息为用电设备，此时可以通过无线充电协议，向用电设备提供电能。
而如果在预设时长内没有接收到响应信号，则说明当前充电面板上的物体信息不是用电设备，而是金属异物。此时则控制充电初级线圈不工作，防止金属异物在充电初级线圈的磁场影响下发热，保证无线充电设备的工作安全。
在本申请的一些实施例中，在物体信息为金属异物的情况下，检测金属异物的位置信息；根据金属异物的位置信息，控制运动组件将金属异物移动至预设位置，其中，预设位置为无线充电设备的充电初级线圈的磁场强度小于 预设强度的位置。
在本申请实施例中，充电初级线圈的范围内存在金属异物时，充电初级线圈产生的变化磁场会在金属异物中感生涡旋电流，该电流会持续给金属异物提供焦耳热，使金属异物的温度持续升高，直到达到热平衡。在此期间温度可能会升高到损坏设备或威胁人体安全的程度，造成无线充电设备的使用风险。
因此，当判断到存在金属异物后，则根据该金属异物的位置信息，控制运动组件将金属异物“移开”，具体为将金属异物移动至预设位置，该预设位置具体为充电初级线圈的磁场强度小于预设强度的位置，因此在将金属异物移动至预设位置之后，充电初级线圈将无法在金属异物内形成较强的涡旋电流，因此不会导致金属异物的温度升高至危险程度，从而有效地保证了无线充电设备的使用安全。
在本申请的一些实施例中，提供了一种无线充电设备的控制装置，用于控制如上述任一实施例中提供的无线充电设备，图6示出了根据本申请实施例的无线充电设备的控制装置的结构框图，如图6所示，无线充电设备的控制装置600包括：
检测模块602，用于检测用电设备的充电次级线圈的位置信息；
控制模块604，用于根据位置信息，控制无线充电设备的运动组件移动用电设备的位置，以使充电次级线圈的位置与充电初级线圈的位置相匹配。
在本申请实施例中，由于在无线充电过程中，充电初级线圈和充电次级线圈“对准”时，无线充电的充电效率更高。而由于不同的用电设备，其充电次级线圈的设置位置可能不同，导致了用户难以将用电设备准确放置到充电次级线圈与充电初级线圈“对准”的位置。
本申请实施例在无线充电设备中设置第一检测模块，通过第一检测模块对用电设备中的充电次级线圈的位置进行检测，从而得到充电次级线圈的位置信息。
在得到充电次级线圈的位置信息后，通过无线充电设备的运动组件，移动 用电设备，从而改变充电次级线圈相对充电初级线圈的位置，具体为将用电设备移动到能够使充电次级线圈与充电初级线圈“相对”的位置，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，充电初级线圈的数量为N；
控制模块，还用于控制N个充电初级线圈分别发送探测信号，并获取充电次级线圈根据N个探测信号分别生成的N个感生信号；
无线充电设备的控制装置还包括：第一确定模块，用于在N个感生信号中，根据信号值不为0的M个目标感生信号，确定对应的M个关联充电初级线圈，和M个关联充电初级线圈对应的M个中心位置坐标，其中M为正整数；
第一确定模块，还用于根据N个感生信号，建立对应的距离矩阵；
第一确定模块，还用于根据距离矩阵，和M个中心位置坐标，确定充电次级线圈的当前中心位置坐标，根据当前中心坐标确定充电次级线圈的位置信息。
在本申请实施例中，线充电设备中设置有多个充电初级线圈，具体地，在无线充电设备中设置有N个充电初级线圈，这N个充电初级线圈在壳体内分布设置，从而保证充电面板上的大部分面积均被充电初级线圈的辐射范围覆盖。
确定充电次级线圈的中心点坐标，从而确定充电次级线圈的位置信息，根据充电次级线圈的位置信息控制运动组件移动用电设备在充电面板上的位置，从而改变充电次级线圈相对充电初级线圈的位置，具体为将用电设备移动到能够使充电次级线圈与充电初级线圈“相对”的位置，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，第一确定模块，还用于在M个中心位置坐标，确定目标中心位置坐标；
控制模块，还用于根据目标中心位置坐标，和目标充电初级线圈的中心位置坐标，控制运动组件移动用电设备，以使充电次级线圈的当前中心位置坐标与目标中心位置坐标相匹配。
在本申请实施例中，在移动用电设备时，首先在M个中心位置坐标中，确定目标中心位置坐标。具体地，M个中心位置坐标，即能够在用电设备的充电次级线圈内产生感生信号的M个充电初级线圈的坐标，由于这些充电初级线圈能够在充电次级线圈中产生感生信号，所以可以确定这M个中心位置坐标距离充电次级线圈的当前中心坐标较近。
在M个中心位置坐标中，选出目标中心位置坐标，其中，可以在M个中心位置坐标中，选择与充电次级线圈的当前中心坐标最接近的一个中心位置坐标，作为目标中心位置坐标。
在确定目标中心位置坐标后，即可控制运动组件，将用电设备移动至对应的位置，并满足充电次级线圈的当前中心位置坐标与目标中心位置坐标相匹配，如满足充电次级线圈的当前中心位置坐标与目标中心位置坐标的差值小于预设阈值，从而能够保证在次级线圈产生足够的磁感应强度变化率，保证次级感应电动势，进而提高无线充电的充电效率。
在本申请的一些实施例中，检测模块，还用于检测无线充电设备的充电面板上的物体信息；
无线充电设备的控制装置还包括：通信模块，用于在检测到物体信息的情况下，通过充电初级线圈发出通信信号；
第二确定模块，用于在预设时长内接收到通信信号对应的响应信号的情况下，确定物体信息为用电设备；
第二确定模块，还用于在预设时长内未接收到响应信号的情况下，确定物体信息为金属异物。
在本申请实施例中，在检测用电设备的充电次级线圈的位置信息之前，首先判断充电面板上是否有用电设备，以及充电面板上的物体是否为用电设备。
具体地，可通过在充电面板上设置传感器，如温度传感器、压力传感器， 电容检测传感器、阻抗检测传感器或磁传感器。以传感器为压力传感器为例，如果检测到充电面板上存在压力值，则认定充电面板上存在物体。此时，进一步判断充电面板上的物体信息。同理，由于充电初级线圈能够与其他金属物耦合，导致物体升温，或电容、阻抗或磁参数变化，因此通过温度传感器、电容检测传感器、阻抗传感器和磁传感器同样能够实现对物体的检测。
进一步地，在检测到物体信息后，控制充电初级线圈，向充电面板上的物体发出通信信号，并接收响应信号。如果充电面板上的物体为用电设备，则用电设备的充电次级线圈能够根据通信信号产生感生信号，从而识别到充电初级线圈，并通过自身的充电次级线圈将感生信号发送到充电初级线圈，实现基于无线充电协议的握手通信。
因此，如果在预设时长内，接收到充电次级线圈返回的响应信号，则说明当前充电面板上的物体信息为用电设备，此时可以通过无线充电协议，向用电设备提供电能。
而如果在预设时长内没有接收到响应信号，则说明当前充电面板上的物体信息不是用电设备，而是金属异物。此时则控制充电初级线圈不工作，防止金属异物在充电初级线圈的磁场影响下发热，保证无线充电设备的工作安全。
在本申请的一些实施例中，检测模块，还用于在物体信息为金属异物的情况下，检测金属异物的位置信息；
控制模块，还用于根据金属异物的位置信息，控制运动组件将金属异物移动至预设位置，其中，预设位置为无线充电设备的充电初级线圈的磁场强度小于预设强度的位置。
在本申请实施例中，充电初级线圈的范围内存在金属异物时，充电初级线圈产生的变化磁场会在金属异物中感生涡旋电流，该电流会持续给金属异物提供焦耳热，使金属异物的温度持续升高，直到达到热平衡。在此期间温度可能会升高到损坏设备或威胁人体安全的程度，造成无线充电设备的使用风险。
因此，当判断到存在金属异物后，则根据该金属异物的位置信息，控制运 动组件将金属异物“移开”，具体为将金属异物移动至预设位置，该预设位置具体为充电初级线圈的磁场强度小于预设强度的位置，因此在将金属异物移动至预设位置之后，充电初级线圈将无法在金属异物内形成较强的涡旋电流，因此不会导致金属异物的温度升高至危险程度，从而有效地保证了无线充电设备的使用安全。
本申请实施例中的无线充电设备的控制装置可以是装置，也可以是终端中的部件、集成电路、或芯片。该装置可以是移动电子设备，也可以为非移动电子设备。示例性的，移动电子设备可以为手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、可穿戴设备、超级移动个人计算机(ultra-mobile personal computer，UMPC)、上网本或者个人数字助理(personal digital assistant，PDA)等，非移动电子设备可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。
本申请实施例中的无线充电设备的控制装置可以为具有操作系统的装置。该操作系统可以为安卓(Android)操作系统，可以为iOS操作系统，还可以为其他可能的操作系统，本申请实施例不作具体限定。
本申请实施例提供的无线充电设备的控制装置能够实现上述方法实施例实现的各个过程，为避免重复，这里不再赘述。
在本申请的一些实施例中，提供了一种可读存储介质，可读存储介质上存储程序或指令，程序或指令被处理器执行时实现如上述任一实施例中提供的方法的步骤，因此，该可读存储介质也包括如上述任一实施例的方法的全部有益效果，为避免重复，在此不再赘述。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一 个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (18)

  1. 一种无线充电设备，包括：
    壳体，包括充电面板，所述充电面板用于承载用电设备；
    充电初级线圈，设于所述壳体内，所述充电初级线圈朝向所述用电设备，并能够与所述用电设备的充电次级线圈相耦合，以向所述用电设备传输电能；
    运动组件，设于所述充电面板上；
    第一检测模块，至少部分所述第一检测模块位于所述壳体内，所述第一检测模块用于检测所述充电次级线圈的位置信息；
    控制器，设于所述壳体内，与所述运动组件和所述第一检测模块相连接，用于根据所述位置信息控制所述运动组件移动所述用电设备的位置，以使所述充电次级线圈的位置与所述充电初级线圈的位置相匹配。
  2. 根据权利要求1所述的无线充电设备，其中，还包括：
    第二检测模块，与所述控制器相连接，用于检测所述充电面板上的物体信息，和所述物体信息对应的位置信息；
    所述控制器，还用于在所述物体信息为金属异物的情况下，根据所述金属异物的位置信息，控制所述运动组件将所述金属异物移动至预设位置。
  3. 根据权利要求1所述的无线充电设备，其中，所述充电初级线圈的数量为N个，N个触点初级线圈的设置位置不重合，其中N为正整数。
  4. 根据权利要求1至3中任一项所述的无线充电设备，其中，还包括：
    金属检测装置，设于所述充电面板上，所述金属检测装置具有温度传感器、压力传感器、电容检测传感器、阻抗检测传感器和磁传感器中的一种或多种。
  5. 根据权利要求1至3中任一项所述的无线充电设备，其中，所述运动组件包括：
    传动轮，设于所述充电面板的上表面；
    动力件，与所述传动轮相连接，用于驱动所述传动轮转动。
  6. 根据权利要求5所述的无线充电设备，其中，所述传动轮包括X个第一传动轮和Y个第二传动轮，所述第一传动轮的传动方向为第一方向，所述第二传动轮的传动方向为第二方向，所述第一传动方向和所述第二传动方向之间的夹角范围是：45°至135°，X和Y为正整数。
  7. 根据权利要求5所述的无线充电设备，其中，所述传动轮为万向轮。
  8. 一种无线充电设备的控制方法，用于控制如权利要求1至7中任一项所述的无线充电设备，所述控制方法包括：
    检测用电设备的充电次级线圈的位置信息；
    根据所述位置信息，控制所述无线充电设备的运动组件移动所述用电设备的位置，以使所述充电次级线圈的位置与所述充电初级线圈的位置相匹配。
  9. 根据权利要求8所述的控制方法，其中，所述充电初级线圈的数量为N；
    所述检测用电设备的充电次级线圈的位置信息，包括：
    控制N个充电初级线圈分别发送探测信号，并获取所述充电次级线圈根据N个探测信号分别生成的N个感生信号；
    在N个感生信号中，根据信号值不为0的M个目标感生信号，确定对应的M个关联充电初级线圈，和所述M个关联充电初级线圈对应的M个中心位置坐标，其中M为正整数；
    根据所述N个感生信号，建立对应的距离矩阵；
    根据所述距离矩阵，和所述M个中心位置坐标，确定所述充电次级线圈的当前中心位置坐标，根据所述当前中心坐标确定所述充电次级线圈的位置信息。
  10. 根据权利要求9所述的控制方法，其中，所述根据所述位置信息，控制所述无线充电设备的运动组件移动所述用电设备的位置，以使所述充电次级线圈的位置与所述充电初级线圈的位置相匹配，包括：
    在所述M个中心位置坐标中，确定目标中心位置坐标；
    根据所述目标中心位置坐标，和目标充电初级线圈的中心位置坐标，控 制所述运动组件移动所述用电设备，以使所述充电次级线圈的当前中心位置坐标与所述目标中心位置坐标相匹配。
  11. 根据权利要求8至10中任一项所述的控制方法，其中，在所述检测用电设备的充电次级线圈的位置信息之前，所述控制方法还包括：
    检测所述无线充电设备的充电面板上的物体信息；
    在检测到所述物体信息的情况下，通过所述充电初级线圈发出通信信号；
    在预设时长内接收到所述通信信号对应的响应信号的情况下，确定所述物体信息为所述用电设备；
    在所述预设时长内未接收到所述响应信号的情况下，确定所述物体信息为金属异物。
  12. 根据权利要求11所述的控制方法，其中，还包括：
    在所述物体信息为所述金属异物的情况下，检测所述金属异物的位置信息；
    根据所述金属异物的位置信息，控制所述运动组件将所述金属异物移动至预设位置，其中，所述预设位置为所述无线充电设备的充电初级线圈的磁场强度小于预设强度的位置。
  13. 一种无线充电设备的控制装置，用于控制如权利要求1至7中任一项所述的无线充电设备，所述无线充电设备的控制装置包括：
    检测模块，用于检测用电设备的充电次级线圈的位置信息；
    控制模块，用于根据所述位置信息，控制所述无线充电设备的运动组件移动所述用电设备的位置，以使所述充电次级线圈的位置与所述充电初级线圈的位置相匹配。
  14. 根据权利要求13所述的无线充电设备的控制装置，其中，所述充电初级线圈的数量为N；
    所述控制模块，还用于控制N个充电初级线圈分别发送探测信号，并获取所述充电次级线圈根据N个探测信号分别生成的N个感生信号；
    所述无线充电设备的控制装置还包括：第一确定模块，用于在N个感生 信号中，根据信号值不为0的M个目标感生信号，确定对应的M个关联充电初级线圈，和所述M个关联充电初级线圈对应的M个中心位置坐标，其中M为正整数；
    所述第一确定模块，还用于根据所述N个感生信号，建立对应的距离矩阵；
    所述第一确定模块，还用于根据所述距离矩阵，和所述M个中心位置坐标，确定所述充电次级线圈的当前中心位置坐标，根据所述当前中心坐标确定所述充电次级线圈的位置信息。
  15. 根据权利要求14所述的无线充电设备的控制装置，其中，所述第一确定模块，还用于在所述M个中心位置坐标中，确定目标中心位置坐标；
    所述控制模块，还用于根据所述目标中心位置坐标，和目标充电初级线圈的中心位置坐标，控制所述运动组件移动所述用电设备，以使所述充电次级线圈的当前中心位置坐标与所述目标中心位置坐标相匹配。
  16. 根据权利要求13至15任一项所述的无线充电设备的控制装置，其中，所述检测模块还用于检测所述无线充电设备的充电面板上的物体信息；
    所述无线充电设备的控制装置还包括：通信模块，用于在检测到所述物体信息的情况下，通过所述充电初级线圈发出通信信号；
    第二确定模块，用于在预设时长内接收到所述通信信号对应的响应信号的情况下，确定所述物体信息为所述用电设备；
    所述第二确定模块，还用于在所述预设时长内未接收到所述响应信号的情况下，确定所述物体信息为金属异物。
  17. 根据权利要求16所述的无线充电设备的控制装置，其中，所述检测模块，还用于在所述物体信息为所述金属异物的情况下，检测所述金属异物的位置信息；
    所述控制模块，还用于根据所述金属异物的位置信息，控制所述运动组件将所述金属异物移动至预设位置，其中，所述预设位置为所述无线充电设备的充电初级线圈的磁场强度小于预设强度的位置。
  18. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求8至12中任一项所述的控制方法的步骤。
PCT/CN2022/116991 2021-09-08 2022-09-05 无线充电设备及其控制方法、控制装置、可读存储介质 Ceased WO2023036072A1 (zh)

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