CN115416511A - Electric vehicle wireless charging positioning system and positioning method thereof - Google Patents
Electric vehicle wireless charging positioning system and positioning method thereof Download PDFInfo
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- CN115416511A CN115416511A CN202211222305.8A CN202211222305A CN115416511A CN 115416511 A CN115416511 A CN 115416511A CN 202211222305 A CN202211222305 A CN 202211222305A CN 115416511 A CN115416511 A CN 115416511A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention discloses a wireless charging positioning system and a positioning method of an electric vehicle, wherein the wireless charging positioning system comprises a ground end module and a vehicle end module, the ground end module comprises a ground end controller and a ground end detection coil, the ground end detection coil is used for sensing the position of a vehicle end transmitting coil in the vehicle end module, and the ground end controller is used for calculating the position information of the electric vehicle and sending the position information to the vehicle end module; the invention can quickly position and provide coordinate information and offset angle information, and the vehicle can correct the vehicle coordinate and offset angle according to the information, so that the ground end module and the vehicle end module are aligned to the maximum extent, and the wireless charging efficiency is optimal; meanwhile, the invention adopts the switching of a plurality of position detection coils and a plurality of frequency magnetic induction signals, thereby not only detecting the angle information of the electric automobile, but also expanding the detection range.
Description
Technical Field
The invention relates to the technical field of wireless charging of electric automobiles, in particular to a wireless charging positioning system and a positioning method of an electric automobile.
Background
With the rapid development of the global electric automobile field in recent years, how to realize the safe, convenient and efficient charging of the electric automobile is significant. The traditional scheme of charging the electric automobile is that electric energy is directly obtained from a power grid through a charging pile, however, when the electric automobile is charged in a wired mode, a charging socket or a cable usually has an exposed part, electric sparks and electric arcs are easily generated during high-power charging, and great potential safety hazards exist; meanwhile, with the application of new technologies such as automatic driving and automatic parking, people expect that no manual intervention is performed in the whole using process of the electric automobile, and the charging automation call of the electric automobile is higher and higher.
In order to solve the above problems, a short-distance wireless power transmission technology is generally adopted to realize wireless charging of the electric vehicle. The wireless charging technology for the electric automobile generally comprises the steps of installing a transmitting end on the ground or underground, installing a receiving end on a chassis of the electric automobile, generating a magnetic field by the transmitting end, receiving induced current by the receiving end, converting the induced current into direct current after rectification, and then charging a battery of the electric automobile. Because the contactless charging of magnetic induction, the relative position of the position that electric automobile stops and the transmitting terminal can directly influence magnetic induction intensity, and magnetic induction intensity can directly influence the efficiency height of charging, leads to even charging the failure.
Therefore, how to design a wireless charging and positioning system for an electric vehicle and a positioning method thereof, which can perform quick positioning and provide vehicle coordinate information and offset angle information for the electric vehicle, is a technical problem to be solved in the industry.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an electric vehicle wireless charging positioning system and a positioning method thereof.
The invention adopts the technical scheme that a wireless charging positioning system of an electric automobile is designed, which comprises a ground end module arranged on the ground and an automobile end module arranged at the bottom of the automobile, wherein the ground end module comprises a ground end controller, a power transmitting coil 12, a ground end detection coil W1 and a detection circuit, the power transmitting coil transmits an electromagnetic field, the ground end detection coil is used for magnetically sensing magnetic induction signals transmitted by the automobile end transmitting coil in the automobile end module, the detection circuit is used for converting the magnetic induction signals into detection signals, and the controller calculates the position information of the electric automobile according to the detection signals and transmits the position information to the automobile end module; the vehicle end module comprises a vehicle end controller, a power receiving coil 22 and a vehicle end transmitting coil W2, wherein the power receiving coil is used for receiving an electromagnetic field transmitted by the power transmitting coil, and the vehicle end controller controls the vehicle end transmitting coil to transmit the magnetic induction signal and communicates with the ground end controller.
The ground end module comprises a ground end chassis 11, a power transmitting coil 12, a ground end magnetic core 13, a ground end detecting coil W1 and a ground end panel 14 which are overlapped from bottom to top; the vehicle end module comprises a vehicle end chassis 21, a power receiving coil 22, a vehicle end magnetic core 23 and a vehicle end detection coil W2 which are overlapped from top to bottom.
The ground end detection coil W1 comprises a plurality of position detection coils (W1-1, W1-2 \8230; 8230; W1-n), which are distributed on the upper surface layer of the ground end module and are respectively connected with a ground end controller; and when the vehicle end transmitting coil W2 of the vehicle end module falls into the range of the ground end detecting coil in the plumb direction and transmits a magnetic induction signal, the ground end controller judges the position of the electric vehicle by comparing the strength of the magnetic induction signal sensed on the position detecting coils.
The vehicle-end transmitting coil W2 comprises a front left transmitting coil W2a, a front right transmitting coil W2b, a rear left transmitting coil W2c and a rear right transmitting coil W2d which are respectively arranged on the front left corner, the front right corner, the rear left corner and the rear right corner of the vehicle-end module.
The invention also designs a positioning method of the wireless charging positioning system of the electric automobile, wherein the system adopts the wireless charging positioning system of the electric automobile, and the positioning method comprises the following steps: the front left transmitting coil W2a, the front right transmitting coil W2b, the rear left transmitting coil W2c and the rear right transmitting coil W2d respectively transmit magnetic induction signals with the frequency of f4, f3, f2 and f1; the ground end detection coil W1 confirms the position of the corresponding transmitting coil according to the induction of the magnetic induction signals with different frequencies, and then the position information of the electric automobile is calculated.
The position information includes coordinate information and offset angle information.
The ground end detection coil is provided with a rear coil oscillation frequency group and a front coil oscillation frequency group, the rear coil oscillation frequency group comprises a frequency f2 and a frequency f1, and the front coil oscillation frequency group comprises a frequency f4 and a frequency f3; when the rear coil oscillation frequency group is adopted, the ground end detection coil can alternately adopt a frequency f2 and a frequency f1; when the front coil oscillation frequency group is adopted, the ground end detection coil can alternately adopt a frequency f4 and a frequency f3; the position detection coils sense the strength change of the magnetic induction signals in a coupling mode, the magnetic induction signals are converted into detection signals through the detection circuit, the ground controller converts the strength of the detection signals into corresponding vector numerical values according to the strength of the detection signals, complex coordinates are established, and coordinate information of the electric automobile is obtained through calculation.
In the positioning detection process, a rear left transmitting coil W2c and a rear right transmitting coil W2d of the vehicle end module enter the upper part of the ground end module, the position detecting coils sense the strength change of magnetic induction signals in a coupling mode, the magnetic induction signals are converted into detection signals through the detection circuit, the ground end controller calculates the coordinates of the rear left transmitting coil and the rear right transmitting coil according to the strength of the detection signals through an orthogonal principle, then calculates the coordinate information of the central point of the vehicle end module by combining the position relation of the rear left transmitting coil and the rear right transmitting coil with the central point of the vehicle end module, and calculates the offset angle information of the electric vehicle according to the coordinates of the rear left transmitting coil and the rear right transmitting coil.
In the positioning detection process, a front left transmitting coil W2a and a front right transmitting coil W2b of the vehicle end module enter the upper part of the ground end module, the position detecting coils sense the strength change of magnetic induction signals in a coupling mode, the magnetic induction signals are converted into detection signals through a detection circuit, a ground end controller calculates the coordinates of the front left transmitting coil and the front right transmitting coil according to the strength of the detection signals through an orthogonal principle, then calculates the coordinate information of the center point of the vehicle end module by combining the position relation of the center point of the vehicle end module of the front left transmitting coil and the front right transmitting coil, and then calculates the offset angle information of the electric vehicle according to the coordinates of the front left transmitting coil and the front right transmitting coil.
The positioning method comprises the following specific steps:
step 1, starting a vehicle end module;
step 2, starting a ground end module, wherein a ground end detection coil W1 of the ground end module adopts a rear coil oscillation frequency group;
step 3, the ground end module detects whether the vehicle end module sends a positioning instruction, if so, the step 4 is carried out, and if not, the step 42 is carried out;
step 4, starting a vehicle-end transmitting coil W2, wherein the front left transmitting coil W2a, the front right transmitting coil W2b, the rear left transmitting coil W2c and the rear right transmitting coil W2d respectively transmit magnetic induction signals with the frequency of f4, f3, f2 and f1;
step 5, the ground module detects whether the electric automobile drives into the positioning area, if so, the step 6 is carried out, and if not, the step waits;
the ground end module detects the front left transmitting coil W2a and the front right transmitting coil W2b, and does not detect the rear left transmitting coil W2c and the rear right transmitting coil W2d, and the step 20 is carried out;
step 10, calculating coordinates of a rear left transmitting coil and a rear right transmitting coil according to the strength of magnetic induction signals coupled and received by the position detection coils by adopting a rear coil oscillation frequency group through an orthogonal principle according to the strength of the magnetic induction signals, calculating coordinate information of a central point of a vehicle end module by combining the position relation between the rear left transmitting coil and the central point of the vehicle end module, calculating deviation angle information of the electric vehicle according to the coordinates of the rear left transmitting coil and the rear right transmitting coil, and turning to step 40;
step 20, the ground end detection coil W1 adopts a front coil oscillation frequency group, coordinates of a front left transmitting coil and a front right transmitting coil are obtained through calculation according to the strength of magnetic induction signals received by the position detection coils in a coupling mode through an orthogonal principle, coordinate information of a center point of a vehicle end module is obtained through calculation according to the position relation between the front left transmitting coil and the vehicle end module, offset angle information of the electric vehicle is calculated according to the coordinates of the front left transmitting coil and the front right transmitting coil, and the step 40 is turned;
step 40, the ground end module transmits the coordinate information and the offset angle information to the vehicle end module;
step 41, detecting whether the electric automobile is driven away from the positioning area, if so, turning to step 42, otherwise, turning to step 5;
and step 42, closing the positioning instruction of the vehicle-end module, closing the vehicle-end transmitting coil W2 and closing the ground-end module.
The technical scheme provided by the invention has the beneficial effects that:
the invention can quickly position, provide vehicle coordinate information and offset angle information for the electric vehicle, and modify the vehicle coordinate and offset angle according to the information by manually driving the vehicle or automatically parking the vehicle, so that the ground end module and the vehicle end module are aligned to the maximum extent, and the wireless charging efficiency is optimal; meanwhile, the invention adopts the switching of a plurality of position detection coils and a plurality of frequency magnetic induction signals, thereby not only detecting the angle information of the electric automobile, but also enlarging the detection range.
Drawings
The invention is described in detail below with reference to examples and figures, in which:
FIG. 1 is a schematic side sectional view of a preferred embodiment of the present invention;
FIG. 2 is a schematic bottom view of the cart end in accordance with the preferred embodiment of the present invention;
FIG. 3 is a bottom plan view of the ground module;
FIG. 4 is a top view of a ground module;
FIG. 5 is a control flow chart of the preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
The invention discloses a wireless charging positioning system for an electric automobile, which comprises a ground end module arranged on the ground and a vehicle end module arranged at the bottom of the electric automobile, and is shown in an overall side sectional schematic view in fig. 1. Fig. 3 and 4 show a bottom view and a top view, respectively, of the ground module. The ground end module comprises a ground end controller, a power transmitting coil 12, a ground end detecting coil W1 and a detecting circuit, wherein the power transmitting coil transmits an electromagnetic field, the ground end detecting coil is used for coupling magnetic induction signals transmitted by a vehicle end transmitting coil in the magnetic induction vehicle end module, the magnetic induction signals are converted into detection signals through identification, amplification and filtering, and the controller calculates the position information of the electric vehicle according to the detection signals and sends the position information to the vehicle end module; the vehicle end module comprises a vehicle end controller, a power receiving coil 22 and a vehicle end transmitting coil W2, wherein the power receiving coil is used for receiving an electromagnetic field transmitted by the power transmitting coil, and the vehicle end controller controls the vehicle end transmitting coil to transmit the magnetic induction signal and communicates with the ground end controller.
In the preferred embodiment shown in fig. 1, 3 and 4, the ground module includes a ground chassis 11, a power transmitting coil 12, a ground magnetic core 13, a ground detecting coil W1 and a ground panel 14, which are stacked from bottom to top; the vehicle end module comprises a vehicle end chassis 21, a power receiving coil 22, a vehicle end magnetic core 23 and a vehicle end detection coil W2 which are stacked from top to bottom.
Referring to fig. 4, the ground end detection coil W1 comprises a plurality of position detection coils (W1-1, W1-2 \8230; W8230; W1-n) which are distributed on the upper surface layer of the ground end module and are respectively connected with the ground end controller; and when the vehicle end transmitting coil W2 of the vehicle end module falls into the range of the ground end detecting coil in the plumb direction and transmits a magnetic induction signal, the ground end controller judges the position of the electric vehicle by comparing the strength of the magnetic induction signal sensed on the position detecting coils.
The ground controller transmits complex signals with different frequencies to the detection coil through a data updating triggering control mode, so that the aim of receiving the complex signals with different frequencies in time is fulfilled, and the area of a ground positioning area is expanded; due to the adoption of a coil frequency switching mode, the size of a vehicle end positioning area is expanded; angle information can be calculated according to the position information of the coils, the offset direction of the automobile is prompted, and the advancing direction of the automobile is corrected; the hardware cost is not required to be increased due to the characteristics, the number of the detection coils is reduced, the hardware requirement of a ground controller is lowered, and chip port resources dependent on software are reduced.
Referring to the schematic top view of the vehicle end shown in fig. 2, the vehicle end module is installed at the bottom of the electric vehicle, and the vehicle end transmitting coils W2 include a front left transmitting coil W2a, a front right transmitting coil W2b, a rear left transmitting coil W2c, and a rear right transmitting coil W2d, which are respectively installed at the front left, front right, rear left, and rear right corners of the vehicle end module. In a preferred embodiment, the front left transmitting coil Wa, the front right transmitting coil Wb, the rear left transmitting coil Wc, and the rear right transmitting coil Wd are arranged in a square in a horizontal plane, and the center of the square overlaps with the center of the power receiving coil.
The invention also discloses a positioning method of the wireless charging positioning system of the electric automobile, the system adopts the wireless charging positioning system of the electric automobile, and the positioning method comprises the following steps: the front left transmitting coil W2a, the front right transmitting coil W2b, the rear left transmitting coil W2c and the rear right transmitting coil W2d respectively transmit magnetic induction signals with frequency f4, frequency f3, frequency f2 and frequency f1; the ground end detection coil W1 confirms the position of the corresponding transmitting coil according to the induction of the magnetic induction signals with different frequencies, and then the position information of the electric automobile is calculated.
In a preferred embodiment, the position information includes coordinate information and offset angle information.
In a preferred embodiment, the ground end detection coil W1 has a rear coil oscillation frequency set and a front coil oscillation frequency set, the rear coil oscillation frequency set includes a frequency f2 and a frequency f1, and the front coil oscillation frequency set includes a frequency f4 and a frequency f3; when the rear coil oscillation frequency group is adopted, the ground end detection coil W1 can alternately adopt the frequency f2 and the frequency f1; when the front coil oscillation frequency group is used, the ground end detection coil W1 alternately uses the frequency f4 and the frequency f3. The position detection coils sense the variation of the strength of the magnetic induction signals in a coupling mode, the magnetic induction signals are converted into detection signals through the detection circuit, the detection signals are numerical value signals, the strength of the sensing signals is converted into numerical values, the ground-end controller converts the magnitude of the detection signals into corresponding vector numerical values, complex coordinates are established, and coordinate information of the electric automobile is obtained through calculation. It should be pointed out that the ground detection coil selects two sets of oscillation frequencies, each set of frequencies includes two frequencies, and the two frequencies work in a time-sharing manner, so that port resources of a processor driven by the ground responsible for frequency driving can be saved, and the cost of the processor is reduced.
The default and common situation in the positioning detection process is that the tail part of the electric automobile backs up and enters above the ground end module, a rear left transmitting coil W2c and a rear right transmitting coil W2d of the automobile end module enter above the ground end module, and a ground end detection coil W1 adopts frequency f2 and frequency f1 alternately; the position detection coils are coupled to sense the change of the strength of the magnetic induction signals, the magnetic induction signals are converted into detection signals through the detection circuit, the ground controller calculates the coordinates of the rear left and rear right transmitting coils according to the strength of the detection signals through an orthogonal principle, the coordinate information of the central point of the vehicle end module is calculated by combining the position relation between the rear left and rear right transmitting coils and the central point of the vehicle end module, and the offset angle information of the electric vehicle is calculated according to the coordinates of the rear left and rear right transmitting coils.
If the head of the electric vehicle is reversed, two coils W2c and W2d at the tail of the electric vehicle drive away from the upper part of a ground end module, a front left transmitting coil W2a and a front right transmitting coil W2b of the vehicle end module enter the upper part of the ground end module, a ground end detecting coil W1 can be used for alternately adopting position detecting coils with frequency f4 and frequency f3 to sense the change of the strength of a magnetic induction signal in a coupling way, the magnetic induction signal is converted into a detection signal through a detection circuit, a ground end controller calculates the coordinates of the front left transmitting coil and the front right transmitting coil according to the strength of the detection signal through an orthogonal principle, then the coordinate information of the central point of the vehicle end module is calculated by combining the position relation of the central points of the front left transmitting coil and the front right transmitting coil, and the deviation angle information of the electric vehicle is calculated according to the coordinates of the front left transmitting coil and the front right transmitting coil.
Referring to fig. 5, the positioning method includes the following specific steps:
step 1, starting a vehicle-end module (the vehicle-end module works, but a vehicle-end transmitting coil W2 does not transmit a magnetic induction signal, and the vehicle-end transmitting coil is in a shutdown state except for positioning detection, so that energy is saved and the service life of equipment is prolonged);
step 2, starting a ground end module, wherein a ground end detection coil W1 of the ground end module adopts a rear coil oscillation frequency group (entering a detection preparation state, and backing the tail of the electric automobile to enter the position above the ground end module is the most default mode, so that the detection is the default oscillation frequency of frequency f2 and frequency f 1.);
step 3, the ground module detects whether the vehicle end module sends a positioning instruction (the vehicle and the ground controller transmit the positioning instruction through communication), if so, the step 4 is executed (positioning detection is executed), and if not, the step 42 is executed (positioning detection is not executed);
step 4, starting a vehicle-end transmitting coil W2, wherein the front left transmitting coil W2a, the front right transmitting coil W2b, the rear left transmitting coil W2c and the rear right transmitting coil W2d respectively transmit magnetic induction signals (namely four frequency signals respectively representing 4 transmitting coils) with the frequencies of f4, f3, f2 and f1;
step 5, the ground module detects whether the electric automobile drives into the positioning area, if so, the step 6 is carried out, otherwise, the step waits (when the electric automobile drives into the positioning area, the ground detection coil W1 can detect magnetic induction signals, and therefore whether the electric automobile drives into the positioning area is judged);
the ground end module detects the front left transmitting coil W2a and the front right transmitting coil W2b, and does not detect the rear left transmitting coil W2c and the rear right transmitting coil W2d, and the step 20 is carried out (in this case, the car is backed over by the head, and the two coils W2c and W2d at the tail part of the electric car are driven away from the upper part of the ground end module);
step 10 (the two rear transmitting coils are positioned above the ground end detecting coil W1), the ground end detecting coil W1 adopts a rear coil oscillation frequency group, coordinates of a rear left transmitting coil and a rear right transmitting coil are obtained by calculation according to the strength of magnetic induction signals received by the position detecting coils in a coupling mode through an orthogonal principle, coordinate information of a center point of a vehicle end module is obtained by calculation according to the position relation between the rear left transmitting coil and the vehicle end module, offset angle information of the electric vehicle is calculated according to the coordinates of the rear left transmitting coil and the rear right transmitting coil, and the step 40 is turned; it should be noted that, in the preferred embodiment, the rear left transmitting coil W2c and the rear right transmitting coil W2d form an inverse right triangle with the center point of the car end module, and the coordinates of the center point of the car end module can be calculated according to the geometric formula of the trigonometric function.
Step 20 (the front two transmitting coils are located above the ground end detecting coil W1), the ground end detecting coil W1 adopts a front coil oscillation frequency group, coordinates of a front left transmitting coil and a front right transmitting coil are obtained through calculation according to the strength of magnetic induction signals received by the position detecting coils in a coupling mode through an orthogonal principle, coordinate information of a center point of a vehicle end module is obtained through calculation by combining the position relation between the front left transmitting coil and the front right transmitting coil and the center point of the vehicle end module, offset angle information of the electric vehicle is calculated according to the coordinates of the front left transmitting coil and the front right transmitting coil, and the step 40 is switched; it should be noted that, in the preferred embodiment, the front left transmitting coil W2a and the front right transmitting coil W2b form an inverse right triangle with the center point of the car end module, and the coordinates of the center point of the car end module can be calculated according to the geometric formula of the trigonometric function.
Step 40, the ground end module transmits the coordinate information and the offset angle information to the vehicle end module;
step 41, detecting whether the electric automobile is driven away from the positioning area, if so, turning to step 42, otherwise, turning to step 5;
and step 42, closing the positioning instruction of the vehicle-end module, closing the vehicle-end transmitting coil W2 and closing the ground-end module.
The positioning method can adapt to automobiles with different heights, and the ground controller can automatically switch detection values and filter irrelevant signals according to different signal intensities without additionally changing any circuit.
The positioning method has high real-time performance, does not need signal transmission of wireless communication, performs coil switching in a magnetic induction mode, and has no phenomena of 'hysteresis' and the like in positioning coordinates.
The foregoing examples are illustrative only and are not intended to be limiting. Any equivalent modifications or variations without departing from the spirit and scope of the present application should be included in the claims of the present application.
Claims (10)
1. A wireless charging positioning system of an electric automobile comprises a ground end module arranged on the ground and a vehicle end module arranged at the bottom of the vehicle,
the ground end module comprises a ground end controller, a power transmitting coil (12), a ground end detecting coil (W1) and a detecting circuit, wherein the power transmitting coil transmits an electromagnetic field, the ground end detecting coil is used for magnetically sensing magnetic induction signals transmitted by a vehicle end transmitting coil in the vehicle end module, the detecting circuit is used for converting the magnetic induction signals into detecting signals, and the controller calculates the position information of the electric vehicle according to the detecting signals and sends the position information to the vehicle end module;
the vehicle-end module comprises a vehicle-end controller, a power receiving coil (22) and a vehicle-end transmitting coil (W2), wherein the power receiving coil is used for receiving an electromagnetic field transmitted by the power transmitting coil, and the vehicle-end controller controls the vehicle-end transmitting coil to transmit the magnetic induction signal and communicates with the ground-end controller.
2. The wireless charging positioning system for the electric automobile according to claim 1, wherein the ground module comprises a ground chassis (11), a power transmitting coil (12), a ground magnetic core (13), a ground detecting coil (W1) and a ground panel (14) which are stacked from bottom to top; the vehicle end module comprises a vehicle end chassis (21), a power receiving coil (22), a vehicle end magnetic core (23) and a vehicle end detection coil (W2) which are stacked from top to bottom.
3. The wireless charging positioning system of the electric automobile according to claim 1, wherein the ground end detection coil (W1) comprises a plurality of position detection coils (W1-1, W1-2 \8230; W1-n) distributed on the upper surface layer of the ground end module and respectively connected with the ground end controller; and when a vehicle end transmitting coil (W2) of the vehicle end module falls into the range of the ground end detecting coil in the plumb direction and transmits a magnetic induction signal, the ground end controller judges the position of the electric vehicle by comparing the strength of the magnetic induction signal sensed by the detecting coil at each position.
4. The wireless charging positioning system for the electric vehicle according to claim 3, wherein the vehicle-end transmitting coils (W2) comprise a front left transmitting coil (W2 a), a front right transmitting coil (W2 b), a rear left transmitting coil (W2 c) and a rear right transmitting coil (W2 d), and the front left transmitting coil, the front right transmitting coil, the rear left transmitting coil and the rear right transmitting coil are respectively installed at the front left corner, the front right corner, the rear left corner and the rear right corner of the vehicle-end module.
5. A positioning method of a wireless charging positioning system for an electric vehicle, wherein the system adopts the wireless charging positioning system for an electric vehicle of claim 4, and the positioning method comprises: the front left transmitting coil (W2 a), the front right transmitting coil (W2 b), the rear left transmitting coil (W2 c) and the rear right transmitting coil (W2 d) respectively transmit magnetic induction signals with the frequency f4, the frequency f3, the frequency f2 and the frequency f1; the ground end detection coil (W1) confirms the position of the corresponding transmitting coil according to the induction of the magnetic induction signals with different frequencies, and then the position information of the electric automobile is calculated.
6. The method for positioning the wireless charging positioning system of the electric vehicle according to claim 5, wherein the position information comprises coordinate information and offset angle information.
7. The positioning method of the wireless charging positioning system of the electric vehicle according to claim 6, wherein the ground end detection coil (W1) has a rear coil oscillation frequency group and a front coil oscillation frequency group, the rear coil oscillation frequency group comprises a frequency f2 and a frequency f1, and the front coil oscillation frequency group comprises a frequency f4 and a frequency f3; when the rear coil oscillation frequency group is adopted, the ground end detection coil (W1) can alternately adopt the frequency f2 and the frequency f1; when the front coil oscillation frequency group is adopted, the ground end detection coil (W1) can alternately adopt a frequency f4 and a frequency f3; the position detection coils sense the strength change of the magnetic induction signals in a coupling mode, the magnetic induction signals are converted into detection signals through the detection circuit, the ground controller converts the strength of the detection signals into corresponding vector numerical values according to the strength of the detection signals, complex coordinates are established, and coordinate information of the electric automobile is obtained through calculation.
8. The method according to claim 7, wherein during the positioning detection, the rear left transmitting coil (W2 c) and the rear right transmitting coil (W2 d) of the end module enter the upper side of the ground end module, the position detecting coils sense the strength change of the magnetic induction signal in a coupling manner, the magnetic induction signal is converted into a detection signal through the detection circuit, the ground end controller calculates the coordinates of the rear left transmitting coil and the rear right transmitting coil according to the strength of the detection signal by using the orthogonal principle, calculates the coordinate information of the center point of the end module by combining the position relationship between the rear left transmitting coil and the center point of the end module, and calculates the offset angle information of the electric vehicle according to the coordinates of the rear left transmitting coil and the rear right transmitting coil.
9. The method according to claim 7, wherein during the positioning detection, the front left transmitting coil (W2 a) and the front right transmitting coil (W2 b) of the vehicle-end module enter the upper side of the ground-end module, the position detecting coils sense the variation of the strength of the magnetic induction signal in a coupling manner, the magnetic induction signal is converted into a detection signal by the detection circuit, the ground-end controller calculates the coordinates of the front left transmitting coil and the front right transmitting coil according to the strength of the detection signal by using the orthogonal principle, calculates the coordinate information of the center point of the vehicle-end module by combining the position relationship of the center points of the vehicle-end module of the front left transmitting coil and the front right transmitting coil, and calculates the offset angle information of the electric vehicle according to the coordinates of the front left transmitting coil and the front right transmitting coil.
10. A positioning method of an electric vehicle wireless charging positioning system is characterized by comprising the following specific steps:
step 1, starting a vehicle end module;
step 2, starting a ground end module, wherein a ground end detection coil (W1) of the ground end module adopts a rear coil oscillation frequency group;
step 3, the ground end module detects whether the vehicle end module sends a positioning instruction, if so, the step 4 is carried out, and if not, the step 42 is carried out;
step 4, starting a vehicle-end transmitting coil (W2), wherein a front left transmitting coil (W2 a), a front right transmitting coil (W2 b), a rear left transmitting coil (W2 c) and a rear right transmitting coil (W2 d) respectively transmit magnetic induction signals with the frequency of f4, the frequency of f3, the frequency of f2 and the frequency of f1;
step 5, the ground module detects whether the electric automobile drives into the positioning area, if so, the step 6 is carried out, and if not, the step waits;
step 6, the ground end module detects the rear left transmitting coil (W2 c) and the rear right transmitting coil (W2 d), and the step 10 is turned to;
the ground end module detects the front left transmitting coil (W2 a) and the front right transmitting coil (W2 b), and does not detect the rear left transmitting coil (W2 c) and the rear right transmitting coil (W2 d) to step 20;
step 10, the ground end detection coil (W1) adopts a rear coil oscillation frequency group, coordinates of a rear left transmitting coil and a rear right transmitting coil are obtained through calculation according to the strength of magnetic induction signals received by the position detection coils in a coupling mode through an orthogonal principle, coordinate information of a center point of a vehicle end module is obtained through calculation according to the position relation between the rear left transmitting coil and the vehicle end module, offset angle information of the electric vehicle is calculated according to the coordinates of the rear left transmitting coil and the rear right transmitting coil, and the step 40 is turned;
step 20, the ground end detection coil (W1) adopts a front coil oscillation frequency group, coordinates of a front left transmitting coil and a front right transmitting coil are obtained through calculation according to the strength of magnetic induction signals received by the position detection coils in a coupling mode through an orthogonal principle, coordinate information of a center point of a vehicle end module is obtained through calculation by combining the position relation between the front left transmitting coil and the front right transmitting coil and the center point of the vehicle end module, deviation angle information of the electric vehicle is calculated according to the coordinates of the front left transmitting coil and the front right transmitting coil, and the step 40 is turned;
step 40, the ground end module transmits the coordinate information and the offset angle information to the vehicle end module;
step 41, detecting whether the electric automobile is driven away from the positioning area, if so, turning to step 42, otherwise, turning to step 5;
and step 42, closing the positioning instruction by the vehicle end module, closing the vehicle end transmitting coil (W2) and closing the ground end module.
Priority Applications (2)
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| CN202211222305.8A CN115416511A (en) | 2022-10-08 | 2022-10-08 | Electric vehicle wireless charging positioning system and positioning method thereof |
| PCT/CN2023/096416 WO2024074047A1 (en) | 2022-10-08 | 2023-05-25 | Electric-vehicle wireless charging positioning system and positioning method therefor |
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| CN202211222305.8A CN115416511A (en) | 2022-10-08 | 2022-10-08 | Electric vehicle wireless charging positioning system and positioning method thereof |
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| WO2024074047A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳威迈斯新能源股份有限公司 | Electric-vehicle wireless charging positioning system and positioning method therefor |
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| US10340752B2 (en) * | 2015-06-23 | 2019-07-02 | Witricity Corporation | Systems, methods and apparatuses for guidance and alignment in electric vehicles wireless inductive charging systems |
| KR20170053237A (en) * | 2015-11-06 | 2017-05-16 | 엘지이노텍 주식회사 | Multi-Coil Wireless Charging Method and Apparatus and System therefor |
| US10784725B2 (en) * | 2017-09-27 | 2020-09-22 | Utah State University | Vehicle misalignment measurement and compensation in dynamic wireless charging applications |
| CN109733216B (en) * | 2018-11-29 | 2020-11-17 | 中海阳能源集团股份有限公司 | Wireless charging coil alignment system based on automatic parking technology |
| CN110293860B (en) * | 2019-08-06 | 2023-09-05 | 合肥有感科技有限责任公司 | Wireless charging coil guiding and aligning device and aligning method for electric automobile |
| CN115416511A (en) * | 2022-10-08 | 2022-12-02 | 深圳威迈斯新能源股份有限公司 | Electric vehicle wireless charging positioning system and positioning method thereof |
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| WO2024074047A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳威迈斯新能源股份有限公司 | Electric-vehicle wireless charging positioning system and positioning method therefor |
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