CN110293860A - Electric car Wireless charging coil guiding and aligning device and alignment methods - Google Patents

Electric car Wireless charging coil guiding and aligning device and alignment methods Download PDF

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Publication number
CN110293860A
CN110293860A CN201910720723.1A CN201910720723A CN110293860A CN 110293860 A CN110293860 A CN 110293860A CN 201910720723 A CN201910720723 A CN 201910720723A CN 110293860 A CN110293860 A CN 110293860A
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China
Prior art keywords
coil
magnetic field
magnetic
transmitting
receiving coil
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CN201910720723.1A
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Chinese (zh)
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CN110293860B (en
Inventor
王哲
陆钧
贺凡波
葛俊杰
马俊超
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Beijing Invispower Co Ltd
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Beijing Invispower Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/66—Data transfer between charging stations and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Invention describes electric car Wireless charging coil guiding and aligning device and alignment methods, comprising: ground launch equipment, onboard reception device, image location system, magnetic field excitation system and magnetoresistive sensor group；Image procossing by looking around camera can be obtained the precise positional relationship between transmitting coil and receiving coil when vehicle is close to parking stall or has just enter into parking stall, and planning driving path can be cooked up, driver or parking system is guided to complete coil alignment, to solve due to needing the technical issues of could obtaining guidance data and electric car alignment function is caused to be easy failure electric car close to detection magnetic field excitation source in the related technology；On the other hand, magnetoresistive sensor has very high sensitivity and detection accuracy, high-precision coordinate resolution can be provided in its operating distance, by final alignment, inspection and the verification of the completion coil of magnetoresistive sensor, also improve the correctness and reliability of coil alignment.

Description

Electric automobile wireless charging coil guiding alignment device and alignment method
Technical Field
The invention relates to the technical field of wireless charging of electric automobiles, in particular to a device and a method for guiding and aligning a wireless charging coil of an electric automobile.
Background
When the electric automobile is charged wirelessly, the receiving coil and the transmitting coil need to be aligned, and the offset of the two coils is ensured to be within the allowable range of a design value, so that the optimal charging effect can be achieved; in order to enable a driver or a parking system to park a vehicle within an allowable charging range, the relative position of a receiving coil and a transmitting coil can be detected when an electric vehicle carrying the receiving coil is separated from the transmitting coil by a certain distance, and the driver or the parking system is guided to finish the alignment of the receiving coil and the transmitting coil;
in the existing wireless charging technology, a detection sensor or an auxiliary detection coil is generally arranged on a receiving coil or a transmitting coil, an excitation detection magnetic field is generated by the transmitting coil or the receiving coil, and the sensor or the auxiliary detection coil induces the detection magnetic field to obtain the relative position between the receiving coil or the transmitting coil; for example, the patent publication number is CN 207442545U, the name of the invention is: a patent of an alignment guide device and an induction charging system capable of alignment guide discloses a technique in which at least one alignment coil is mounted on a receiving coil, a magnetic field is generated by energizing a transmitting coil, and a direction signal is generated from an induced voltage generated in the alignment coil for coil guide and alignment detection;
the above patent technology has major design deficiencies:
the first, the above patent technology adopts the structure mode of auxiliary detection coil, greatly increases the structure complexity of the transmitting coil or the receiving coil, can generate the superposed electromagnetic influence with the power transmitting coil and the receiving coil, and the detection precision is also easily interfered;
secondly, because the magnetic field signal generated by the closed coil such as the transmitting coil has rapid attenuation (inversely proportional to the third power of the distance) along with the increase of the distance and is restricted by the national regulations on the safety control limit value of the electromagnetic environment, the magnetic field intensity transmitted when the coil of the electric vehicle for wireless charging guides the alignment is very small and is also easily influenced by magnetic substances in the field or the surrounding environment, such as interference of metal objects and materials or other parking vehicles, and the like, the action distance detected by the method is only obvious near a magnetic field generating source, and when reliable position deviation data is obtained, a driver or a parking system does not have sufficient operation space and reaction time to adjust the vehicle traveling route, the coil alignment action cannot be completed correctly, and the use experience of the electric vehicle for wireless charging is greatly reduced.
Disclosure of Invention
In order to solve the technical problems, the invention provides an alignment device and an alignment method for guiding a wireless charging coil of an electric vehicle, when the electric vehicle approaches a parking space or just enters the parking space, a panoramic overlook picture around a vehicle body can be shot through a panoramic camera, the parking space is reconstructed by an image positioning system to establish a coordinate system based on image pixels, the image pixel coordinates are converted into actual space coordinates according to the size of a mark line of the parking space, then the relative positions of a transmitting coil and a receiving coil are analyzed, a parking path is planned, a driver or a parking system is guided to align the coils, then a high-precision magnetic resistance sensor group is used for inducing a magnetic field emitted by the transmitting coil to obtain the coil position coordinates based on a magnetic field model, the final alignment process of the coils is guided and confirmed, the alignment verification function is provided, and the intelligent alignment design greatly reduces the precision difference problem generated by manual operation, the coil alignment effect is greatly enhanced.
Electric automobile wireless charging coil guide alignment device and alignment method, wherein:
electric automobile wireless charging coil guide alignment device includes: the system comprises ground transmitting equipment, vehicle-mounted receiving equipment, an image positioning system, a magnetic field excitation system and a magnetic resistance sensor group;
furthermore, the ground transmitting equipment is arranged in the parking space and is electrically connected with a power supply grid; the vehicle-mounted receiving equipment is arranged at the bottom of the electric automobile and is electrically connected with the vehicle-mounted power battery;
by way of illustration, the terrestrial transmitting device includes: the system comprises a ground communication control unit, a transmitting end power converter, a transmitting end resonant network and a transmitting coil; a transmitting coil winding used for exciting a magnetic field is arranged in the transmitting coil;
as an illustration, the in-vehicle receiving apparatus includes: the system comprises a vehicle-mounted communication control unit, a receiving end resonant network, a receiving end power converter and a receiving coil; a receiving coil winding for receiving a magnetic field is arranged in the receiving coil;
as an example, the vehicle-mounted communication control unit supplies power by adopting a structure that the power battery is connected with a direct current converter in series;
as a principle explanation, in the wireless charging link of the electric vehicle, when a receiving coil of the electric vehicle is aligned with a ground transmitting coil, a power frequency alternating current transmitted by a power supply grid is converted into a high-frequency alternating current through a transmitting power converter, the high-frequency alternating current is applied to the transmitting coil and forms a high-frequency alternating magnetic field in the upper space of the transmitting coil, and at the moment, a vehicle-mounted receiving coil induces the alternating magnetic field to generate an alternating current, and the alternating current is converted into a direct current through a receiving end power converter and is input to a power battery to charge the power; in the whole charging process, the vehicle-mounted equipment and the ground equipment exchange information through wireless communication interfaces of the vehicle-mounted communication control unit and the ground communication control unit, and respectively control and adjust the electric energy conversion of the receiving end power converter and the transmitting end power converter through the vehicle-mounted communication control unit and the ground communication control unit;
further, the image positioning system is used for constructing a coordinate system of image pixels and guiding the electric automobile to be aligned to the transmitting coil;
by way of illustration, the image localization system includes: a panoramic camera and an image processing unit; wherein the around view camera includes: the plurality of groups of cameras are arranged on the periphery of the vehicle body and are respectively used for acquiring images in the front direction, the rear direction, the left direction and the right direction of the vehicle;
further, after a panoramic view image around the vehicle body is obtained, the multiple groups of cameras transmit the acquired images to the image processing unit, and a panoramic overlook picture of the surrounding environment of the vehicle is obtained after image processing, distortion correction and image stitching processing are carried out;
as an example, the image positioning system is powered by the power battery, and a dc converter may be connected in series between the power battery and the image positioning system to match the power supply voltage of the image positioning system;
as a preferable example, the number of the plurality of groups of cameras mounted on the periphery of the vehicle body is four or more;
as a preferable example, the camera employs a wide-angle lens;
as an application example, the wide-angle lens is a 180 ° fisheye lens;
further, the magnetic field excitation system is arranged on the back surface of the transmitting coil and used for exciting and emitting an electromagnetic field for guiding alignment to the space above the transmitting coil;
by way of illustration, the magnetic field excitation system comprises: the device comprises a signal generator, an amplifying and transmitting circuit and a transmitting antenna; when an electromagnetic field is generated by excitation, a sinusoidal signal is generated by a signal generator and sent to the amplifying and transmitting circuit for power amplification, the amplified sinusoidal signal drives a transmitting antenna, and the generation value of the electromagnetic field intensity of the transmitting antenna accords with the electromagnetic field intensity value allowed by national regulations when wireless charging in a public area is designed;
as an illustration, the power source of the magnetic field excitation system is connected to a power supply grid, and is powered by the power supply grid;
as an application example, the transmitting antenna directly adopts a transmitting coil winding of the transmitting coil to act, and the frequency of an electromagnetic field excited and emitted is in the range of 30KHz to 300 KHz;
furthermore, the magnetic resistance sensor groups are arranged at four corners of the receiving coil and used for detecting the magnetic induction intensity of each point of the electromagnetic field distributed in the parking space area, wherein the electromagnetic field is emitted by the magnetic field excitation system;
by way of illustration, the magnetoresistive sensor group includes: 12 magnetoresistive sensors installed at four corners of the receiving coil, and 3 magnetoresistive sensors are installed at each corner;
as an illustration, each of the corners is provided with a magnetoresistive sensor in each of the three axes X ', Y ' and Z ';
as an example, four magnetoresistive sensors are installed in the direction of the X 'axis, and the sensitive direction of the magnetic field of the four magnetoresistive sensors is the-X' direction, which is opposite to the traveling direction of the automobile when the coil guide is aligned;
as an example, the magnetic field sensitivity directions of the four magnetoresistive sensors installed in the Y' axis direction are perpendicular to the traveling direction of the vehicle when the coil is aligned, and the magnetoresistive sensors located on both sides of the receiving coil are arranged in opposite directions and respectively face one side of the vehicle body of the vehicle; as shown in fig. 3, the magnetic field sensitivity direction of the magnetoresistive sensor located in the Y 'axis direction installed on the left side of the receiving coil is the-Y' direction, and the magnetic field sensitivity direction of the magnetoresistive sensor located in the Y 'axis direction installed on the right side of the receiving coil is the + Y' direction;
as an illustration, four magnetoresistive sensors installed in the Z' -axis direction are installed upright, i.e., perpendicular to the receiving coil; the magnetic field sensitivity directions of the four magnetic resistance sensors are in the + Z' direction, are in the same direction with the axial direction of the receiving coil winding and point to the bottom of the vehicle;
as an illustration, the magnetoresistive sensor employs one or a combination of an anisotropic magnetoresistive element, a giant magnetoresistive element, or a tunnel magnetoresistive element;
as an example of an application, the tunnel magnetoresistance element has the advantages of high precision, high reliability, fast response speed, high sensitivity, low cost, etc., and a magnetoresistance sensor using the tunnel magnetoresistance element has the advantages that under the action of a magnetic field, the change of magnetic induction intensity causes the resistance change of the internal magnetoresistance element, when the internal circuit of the magnetic resistance sensor adopts a Wheatstone bridge structure, the change of the magnetic induction intensity can cause the change of the output voltage of the internal circuit of the magnetic resistance sensor, when the magnetic resistance sensor is internally provided with circuits such as signal amplification, filtering and the like, in the linear range, the output voltage of the magnetic resistance sensor is in a direct proportion relation with the magnetic induction intensity of an external magnetic field, and a voltage signal output by the magnetic resistance sensor is accessed to an analog input end of the vehicle-mounted communication control unit for conversion, processing and analysis, so that the magnetic induction intensity information of corresponding positions and directions can be obtained;
as an application example, the magnetoresistive sensor group may also be installed outside the receiving coil, and needs to be maintained in the same plane with the receiving coil when installed, the number and distribution of the sensors are the same as those when installed at four corners of the receiving coil, three magnetoresistive sensors in the three-axis direction of X ' Y ' Z ' have a fixed positional relationship with one corner of the receiving coil, and coordinates obtained by the magnetoresistive sensors may be conveniently converted into positional coordinates of the four corners of the receiving coil;
the electric automobile wireless charging coil guiding and aligning method comprises the following steps:
step one, when an automobile to be charged approaches or enters a parking space capable of being charged wirelessly, the electric automobile opens a vehicle-mounted communication control unit and establishes communication with a ground communication control unit;
secondly, the ground communication control unit sends a confirmation instruction to the vehicle-mounted communication control unit, starts to guide alignment operation, and sends parking space information, a magnetic field positioning calibration value and a pairing check code value to the vehicle-mounted communication control unit;
as an illustration, the parking space information includes: the length and width of the parking space, the width of the marking line and the size data of the installation position of the transmitting coil;
by way of illustration, the magnetic field location calibration includes: corresponding magnetic induction B within the permissible deviation rangez1Magnetic induction B of the magnetic field corresponding to the perfect alignment of the coilz0；
Step three, when the electric automobile is guided to align to work, the ground communication control unit controls the magnetic field excitation system to generate an electromagnetic field; the transmission of the electromagnetic field is divided into two periods, and no signal is transmitted by the electromagnetic signal in the first period; the second period is that the electromagnetic field is emitted to the upper space by the emitting coil; in the first period, the magnetic induction intensity of the ambient magnetic field is measured by the magnetic resistance sensor group; in the second period, the magnetic induction intensity measured by the magnetic resistance sensor group is subtracted from the environmental magnetic induction intensity in the first period, so that the magnetic induction intensity of the magnetic field distributed at the position where the electromagnetic field emitted by the transmitting coil is located can be obtained;
step four, guiding the alignment operation of the electric automobile to adopt an image positioning mode, shooting a panoramic overlook picture of the parking space by a panoramic camera of an image positioning system, converting the picture into a gray picture by an image processing unit through visual angle conversion, identifying a sign line of the parking space according to the color and the geometric characteristics of the sign line of the parking space, reconstructing an outer contour image of the parking space through image processing and correction, and establishing an image coordinate system (shown in figure 3) with image pixels as units according to the resolution of the image processing unit;
the position relation between the transmitting coil and the parking space is fixed, the installation position of the receiving coil on the electric automobile is also fixed, and the image pixel deviation values of the four corners of the receiving coil and the four corners of the transmitting coil on an X-Y plane can be determined according to the position of the panoramic camera and an image coordinate system established by an image positioning system; the image pixel coordinates of four corners of the receiving coil on an X-Y plane can be determined by taking the center (0,0,0) of the transmitting coil as an origin; the geometric dimension of the parking space is known, and the actual dimension value corresponding to the image pixel can be obtained according to the geometric dimension of the parking space, including the length and the width of the parking space or the width of the sign line and other dimension values, so that the actual dimension coordinate of four corners of the receiving coil on an X-Y plane can be determined;
as an example, in order to make the image positioning system better identify and reconstruct the parking space, other mark positions such as a straight line, a geometric figure, a grid and the like can be added in the parking space, and the mark positions and the parking space mark line and the transmitting coil form a fixed position relationship;
step five, the image processing unit sends the obtained four-corner coordinates of the receiving coil to the vehicle-mounted communication control unit, and the four-corner coordinates of the receiving coil are continuously updated by the image positioning system in the process of traveling;
when the guiding alignment operation of wireless charging is manually operated by a driver, deviation between coils can be displayed through terminals such as a mobile phone and a vehicle-mounted center console, a parking path aligned with the coils is indicated according to position deviation planning between the coils, and driving instructions for adjusting the traveling direction such as steering direction and steering angle are displayed for the driver;
when automatic parking or automatic driving is adopted, the coordinates of the four corners of the receiving coil are sent to a parking system, and the parking system plans an automatic parking path and realizes the alignment of the coil;
the electric automobile is operated through the manual operation or the automatic parking system, so that the X' axis of the receiving coil and the X axis of the transmitting coil are superposed when the electric automobile moves, and the electric automobile gradually approaches to the transmitting coil;
step six, when the electric automobile approaches to the position of the transmitting coil gradually, the strength of the electromagnetic field signal sent by the magnetic field excitation system is received by the magnetic resistance sensor group to be increased gradually, because the measurement of the panoramic camera may have delay of processing speed and some calculation deviation, and meanwhile, the external environment may have interference, when the magnetic induction strength of the magnetic field sent by the magnetic field excitation system is enough to cover all the magnetic resistance sensors, the positioning guide operation of the electric automobile is switched to adopt the coordinate data generated by the magnetic resistance sensor group to guide alignment operation in real time;
seventhly, the vehicle-mounted communication control unit sends the continuously acquired magnetic induction intensity, namely 4 × 3 magnetic induction intensity values in the three-axis directions of the four corners X ' Y ' Z ' of the receiving coil, voltage values generated by the change of the magnetic induction intensity are sent to an analog quantity conversion circuit of the vehicle-mounted communication control unit to be processed and converted into digital signals, magnetic field magnetic induction intensities in the three-axis directions of the four corners of the receiving coil are obtained, and four three-axis coordinates of the four corners of the receiving coil are obtained through the conversion of a distribution data model of the magnetic field magnetic induction intensities;
as an example, the magnetic induction intensity distribution data model may adopt a magnetic dipole model, that is, the transmitting coil is idealized to be a magnetic dipole, and the magnetic induction intensity B of the magnetic field in the XYZ triaxial directions at each point in the magnetic field coverage space can be obtainedx、ByAnd BzWhen the transmitting coil center (0,0,0) is taken as the origin of the XYZ triaxial coordinatesMagnetic induction (B) of magnetic field in three-axis direction of certain point (x, y, z)x,By,Bz) Respectively, the following formulas:
wherein,BTthe parameters are fixed parameters related to the transmitting coil, related to the coil turns, material, diameter and other parameters, and need to be calibrated in advance according to different transmitting coils;
according to the model, three-axis coordinates (X, Y, z) of the measuring point can be obtained, so that the coordinates of the four corners of the receiving coil on an X-Y plane can be continuously obtained according to the magnetic induction intensity of the three-axis magnetic field measured by the four corners of the receiving coil;
the deviation of the four corners of the electric automobile driven to the receiving coils in the X axis and the Y axis is reduced to be within the allowable deviation range between the coils when the wireless charging system is charged through the manual operation of a driver or the automatic parking of the automobile and the adjustment of the automatic driving system to the automobile, and the electric automobile is aligned as accurately as possible;
step eight, in the final alignment stage, namely when the projection of the receiving coil and the transmitting coil are overlapped, the final alignment state can be judged or assisted to be judged by adopting a magnetic field positioning calibration value, namely a magnetic field magnetic induction intensity value B corresponding to the magnetic resistance sensor in the Z' axis direction within the allowable coil deviation range is calibrated in advance according to different transmitting coilsz1And magnetic induction B of magnetic field corresponding to the magnetoresistive sensor in the Z' -axis direction when the transmitter coil and the receiver coil are completely alignedz0；
When receiving coils with four Z' axesThe magnetic induction intensity of the magnetic field received by the four magnetic resistance sensors is not lower than a calibration value Bz1When the charging is carried out, the transmitting coil and the receiving coil are considered to be aligned, and the position deviation is within the allowable range of charging; when the magnetic field magnetic induction intensity received by the Z' -axis sensors at four corners of the receiving coil is equal or the deviation value is minimum, and the received magnetic field magnetic induction intensity values are not lower than the calibration value Bz0When the transmitter coil and the receiver coil are considered to be perfectly aligned;
and ninthly, after the transmitting coil is aligned with the receiving coil, a checking electromagnetic field is sent through excitation of the transmitting coil, when four magnetoresistive sensors at four corners of the Z axis receive electromagnetic signals with amplitude values exceeding a certain intensity, the long-period electromagnetic signals are taken as 1, the short-period electromagnetic signals are taken as 0, and a binary code consisting of 01 is consistent with a pairing checking code value sent through communication, the checking is successful, the checking process of guiding alignment of the coil is completed, the ground communication control unit sends a signal to the vehicle-mounted communication control unit, confirms that the wireless charging condition is met, and the wireless charging operation is started.
Has the advantages that:
with the rapid development of intelligent driving technology, vision systems such as a look-around camera and the like are increasingly configured on an electric automobile, the accurate position relation between a transmitting coil and a receiving coil can be obtained when the automobile approaches a parking space or just enters the parking space through the image processing of the look-around camera, a driving path can be planned, and a driver or a parking system is guided to complete the alignment of the coils, so that the technical problem that the alignment operation of the electric automobile is easy to fail because the electric automobile needs to approach a detection magnetic field excitation source to obtain guidance data in the related technology is solved;
on the other hand, the magneto-resistive sensor has high sensitivity and detection precision, can provide high-precision coordinate analysis within the action distance, and improves the accuracy and reliability of coil alignment by finishing the final alignment, inspection and verification of the coil by the magneto-resistive sensor;
the invention has scientific and reasonable design, has higher alignment precision, safe and reliable work and higher cost performance compared with the coil alignment operation of wireless charging in the prior art;
drawings
FIG. 1 is a schematic view of the overall structure of the wireless charging coil guiding and aligning device of an electric vehicle according to the present invention
FIG. 2 is a diagram illustrating the effect of installing the magnetic resistance sensor set of the wireless charging coil guiding and aligning device of the electric vehicle according to the present invention
FIG. 3 is a diagram of the resolution of the image processing system of the wireless charging coil guiding and aligning device of the electric vehicle for establishing the image coordinate system in units of image pixels
FIG. 4 is a ground reference coordinate system diagram of the wireless charging coil guiding and aligning device of the electric vehicle with the center of the transmitting coil as the origin
Detailed Description
Referring to fig. 1 to 4, an alignment device and an alignment method for guiding a wireless charging coil of an electric vehicle are shown, wherein:
electric automobile wireless charging coil guide alignment device includes: a ground transmitting device 101, a vehicle-mounted receiving device 102, an image positioning system 103, a magnetic field excitation system 104 and a magnetoresistive sensor group 105;
further, the ground transmitting device 101 is installed in the parking space and is electrically connected 106 with the power supply grid; the vehicle-mounted receiving equipment 102 is arranged at the bottom of the electric automobile and is electrically connected with a vehicle-mounted power battery 107;
as an illustration, the ground transmitting apparatus 101 includes: a ground communication control unit 108, a transmitting end power converter 109, a transmitting end resonant network 110 and a transmitting coil 111; a transmitting coil winding for exciting a magnetic field is arranged in the transmitting coil 111;
as an illustration, the vehicle-mounted receiving apparatus 102 includes: a vehicle-mounted communication control unit 112, a receiving end resonance network 113, a receiving end power converter 114, and a receiving coil 115; a receiving coil winding for receiving a magnetic field is arranged in the receiving coil 115;
as an example, the vehicle-mounted communication control unit 112 supplies power by adopting a structure that the power battery 107 is connected in series with a dc converter 120;
as a description of the principle, in the wireless charging link of the electric vehicle, when the receiving coil 115 of the electric vehicle is aligned with the ground transmitting coil 111, the power frequency ac power transmitted by the power supply grid 106 is converted into a high frequency ac power by the transmitting power converter 109, and is applied to the transmitting coil 111 and forms a high frequency alternating magnetic field in the upper space thereof, at this time, the vehicle-mounted receiving coil 115 induces the alternating magnetic field to generate an ac current, and then is converted into a dc power by the receiving end power converter 114, and is input to the power battery 107 to charge the power battery 107; in the whole charging process, the vehicle-mounted equipment and the ground equipment exchange information through the wireless communication interfaces of the vehicle-mounted communication control unit 112 and the ground communication control unit 108, and respectively control and adjust the electric energy conversion of the receiving end power converter 114 and the transmitting end power converter 109 through the vehicle-mounted communication control unit 112 and the ground communication control unit 108;
further, the image positioning system 103 is used for constructing a coordinate system of image pixels, and guiding the electric vehicle to align with the transmitting coil 111;
by way of illustration, the image localization system 103 includes: a panoramic camera 116 and an image processing unit 117; wherein the look-around camera 116 comprises: the plurality of groups of cameras are arranged on the periphery of the vehicle body and are respectively used for acquiring images in the front direction, the rear direction, the left direction and the right direction of the vehicle;
further, after a panoramic view image around the vehicle body is obtained, the multiple groups of cameras transmit the acquired images to the image processing unit 117, and a panoramic overhead view of the vehicle surrounding environment is obtained after image processing, distortion correction and image stitching processing are performed;
as an example, the image positioning system 103 is powered by the on-board power battery 107 via a dc converter;
as a preferable example, the number of the plurality of groups of cameras mounted on the periphery of the vehicle body is four or more;
as a preferable example, the camera employs a wide-angle lens;
as an application example, the wide-angle lens is a 180 ° fisheye lens;
further, the magnetic field excitation system 104 is disposed at the back of the transmitting coil, and is configured to excite and emit an electromagnetic field for guiding alignment to the space above the transmitting coil 111;
by way of illustration, the magnetic field excitation system 104 includes: a signal generator 118, an amplification transmitting circuit 119, and a transmitting antenna; when an electromagnetic field is generated by excitation, a sinusoidal signal is generated by the signal generator 118 and sent to the amplifying and transmitting circuit 119 for power amplification, the amplified sinusoidal signal drives the transmitting antenna, and the generation value of the electromagnetic field intensity of the transmitting antenna accords with the electromagnetic field intensity value allowed by national regulations during wireless charging in a public area during design;
as an illustration, the power source of the magnetic field excitation system 104 is connected to the power grid 106, and is powered by the power grid 106;
as an application example, the transmitting antenna directly uses the transmitting coil winding of the transmitting coil 111 as a function, and the frequency of the electromagnetic field excited and emitted is in the range of 30KHz to 300 KHz;
further, the magnetic resistance sensor group 105 is installed at four corners of the receiving coil 115, and is used for detecting the magnetic induction intensity of the electromagnetic field emitted by the magnetic field excitation system 104 distributed at each point in the parking space area;
as an example, the magnetic resistance sensor group is powered by a structure that a power battery is connected with a direct current converter in series;
by way of illustration, the magnetoresistive sensor group 105 includes: 12 magnetoresistive sensors installed at four corners of the receiving coil 115, 3 sensors being installed at each corner;
as an illustration, each of the corners is provided with a magnetoresistive sensor in each of the three axes X ', Y ' and Z '; the three-axis directions of X ', Y ' and Z ' are the real-time three-axis directions of the vehicle body;
as an example, four magnetoresistive sensors are installed in the direction of the X 'axis, and the sensitive direction of the magnetic field of the four magnetoresistive sensors is the-X' direction, which is opposite to the traveling direction of the automobile when the coil guide is aligned;
as an example, four magnetic resistance sensors are installed in the Y' axis direction, the magnetic field sensitive directions of the magnetic resistance sensors are perpendicular to the traveling direction of the automobile when the coils are aligned, and the magnetic resistance sensors are located at two sides of the receiving coil 115, and the magnetic field sensitive directions of the magnetic resistance sensors are opposite to each other and respectively face one side of the automobile body; as shown in fig. 3, the magnetic field sensitivity direction of the magnetic resistance sensor in the Y 'axis direction installed on the left side of the receiving coil 115 is the-Y' direction, and the magnetic field sensitivity direction of the magnetic resistance sensor in the Y 'axis direction installed on the right side of the receiving coil 115 is the + Y' direction;
as an example, four magnetoresistive sensors installed in the Z' -axis direction are installed upright, i.e., perpendicular to the receiving coil 115; the magnetic field sensitivity directions of the four magnetic resistance sensors are in the + Z' direction, are in the same direction with the axial direction of the receiving coil winding and point to the bottom of the vehicle;
as an illustration, the magnetoresistive sensor employs one or a combination of an anisotropic magnetoresistive element, a giant magnetoresistive element, or a tunnel magnetoresistive element;
as an example of an application, the tunnel magnetoresistance element has the advantages of high precision, high reliability, fast response speed, high sensitivity, low cost, etc., and a magnetoresistance sensor using the tunnel magnetoresistance element has the advantages that under the action of a magnetic field, the change of magnetic induction intensity causes the resistance change of the internal magnetoresistance element, when the internal circuit of the magnetic resistance sensor adopts a Wheatstone bridge structure, the change of the magnetic induction intensity can cause the change of the output voltage of the internal circuit of the magnetic resistance sensor, when the magnetic resistance sensor is internally provided with circuits such as signal amplification, filtering and the like, in the linear range, the output voltage of the magnetic resistance sensor is in a direct proportion relation with the magnetic induction intensity of an external magnetic field, and a voltage signal output by the magnetic resistance sensor is accessed to an analog input end of the vehicle-mounted communication control unit for conversion, processing and analysis, so that the magnetic induction intensity information of corresponding positions and directions can be obtained;
as an application example, the magnetoresistive sensor group 105 may also be installed outside the receiving coil 115, and it needs to be maintained in the same plane with the receiving coil 115 when installed, the number and distribution of sensors are the same as when installed at four corners of the receiving coil 115, three magnetoresistive sensors in the three-axis direction of X ' Y ' Z ' have a fixed positional relationship with one corner of the receiving coil 115, and coordinates obtained by the magnetoresistive sensors can be conveniently converted into positional coordinates of the four corners of the receiving coil 115;
the electric automobile wireless charging coil guiding and aligning method comprises the following steps:
step one, when the vehicle to be charged approaches or enters a parking space capable of being charged wirelessly, the electric vehicle opens the vehicle-mounted communication control unit 112 to establish communication with the ground communication control unit 108;
secondly, the ground communication control unit 108 sends a confirmation instruction to the vehicle-mounted communication control unit 112, starts to guide alignment operation, and sends parking space information, a magnetic field positioning calibration value and a pairing check code value to the vehicle-mounted communication control unit 112;
as an illustration, the parking space information includes: the length and width of the parking space, the width of the marking line and the size data of the installation position of the transmitting coil;
by way of illustration, the magnetic field location calibration includes: corresponding magnetic induction B within the permissible deviation rangez1Magnetic induction B of the magnetic field corresponding to the perfect alignment of the coilz0；
Step three, when the electric automobile is guided to align to work, the ground communication control unit 108 controls the magnetic field excitation system to generate an electromagnetic field; the transmission of the electromagnetic field is divided into two periods, and no signal is transmitted by the electromagnetic signal in the first period; the second cycle is that the electromagnetic field is emitted to the upper space by the emitting coil 111; in the first period, the magnetic induction intensity of the ambient magnetic field is measured by the magnetic resistance sensor group 105; in the second period, the magnetic induction intensity measured by the magnetic resistance sensor group 105 is subtracted from the environmental magnetic induction intensity in the first period, so that the magnetic induction intensity of the magnetic field distributed at the position where the electromagnetic field emitted by the transmitting coil is located can be obtained;
step four, guiding the alignment operation of the electric vehicle to adopt an image positioning mode, taking a panoramic overlook picture of the parking space by a panoramic camera 116 of the image positioning system 103, converting the picture into a gray picture by an image processing unit 117 through visual angle conversion, identifying a sign line of the parking space according to the color and geometric characteristics of the sign line of the parking space, reconstructing an outer contour image of the parking space through image processing and correction, and establishing an image coordinate system (shown in fig. 3) with image pixels as units according to the resolution of the image processing unit 117;
the position relation between the transmitting coil 111 and the parking space is fixed, the installation position of the receiving coil 115 on the electric automobile is also fixed, and the image pixel deviation values of the four corners of the receiving coil 115 and the four corners of the transmitting coil on an X-Y plane can be determined according to the position of the panoramic camera 116 and an image coordinate system established by the image positioning system 103; with the center (0,0,0) of the transmitting coil 111 as an origin, the image pixel coordinates of four corners of the receiving coil 115 on the X-Y plane can be determined; the geometric dimensions of the parking space are known, and according to the geometric dimensions of the parking space, including the length and width of the parking space or the width of the sign line and other dimension values, the actual dimension value corresponding to the image pixel can be obtained, so that the actual dimension coordinates of four corners of the receiving coil 115 on the X-Y plane can be determined;
as an example, in order to make the image positioning system 103 better identify and reconstruct the parking space, other markers such as lines, geometric figures, grids, etc. may be added to the parking space, and these markers are in a fixed positional relationship with the parking space marker lines and the transmitting coil 111;
step five, the image processing unit 117 sends the obtained four-corner coordinates of the receiving coil 115 to the vehicle-mounted communication control unit 112, and the four-corner coordinates of the receiving coil 115 are continuously updated by the image positioning system in the process of traveling;
when the guiding alignment operation of wireless charging is manually operated by a driver, deviation between coils can be displayed through terminals such as a mobile phone and a vehicle-mounted center console, a parking path aligned with the coils is indicated according to position deviation planning between the coils, and driving instructions for adjusting the traveling direction such as steering direction and steering angle are displayed for the driver;
when automatic parking or automatic driving is adopted, the four-corner coordinates of the receiving coil 115 are sent to a parking system, and the parking system plans an automatic parking path and realizes a coil alignment path;
the electric automobile is operated through the manual operation or the automatic parking system, so that the X' axis of the receiving coil 115 and the X axis of the transmitting coil 111 are superposed when the electric automobile moves, and the electric automobile gradually approaches to the transmitting coil 111;
step six, when the electric automobile approaches to the position of the transmitting coil 111 gradually, the intensity of the electromagnetic field signal received by the magnetic field excitation system 104 by the magnetic resistance sensor group 105 is increased gradually, because the measurement of the panoramic camera 116 may have delay of processing speed and some calculation deviation, and meanwhile, the external environment may have interference, when the magnetic induction intensity of the magnetic field emitted by the magnetic field excitation system 104 is enough to cover all the magnetic resistance sensors, the positioning guide operation of the electric automobile is switched to the guide alignment operation by adopting the coordinate data generated by the magnetic resistance sensor group 105 in real time;
seventhly, the vehicle-mounted communication control unit 112 sends the continuously acquired magnetic induction intensity, namely 4 × 3 magnetic induction intensity values in the three-axis directions of the four corners X ' Y ' Z ' of the receiving coil 115, and the voltage value generated by the change of the magnetic induction intensity is sent to an analog quantity conversion circuit of the vehicle-mounted communication control unit 112 to be processed and converted into a digital signal, so that the magnetic induction intensity of the magnetic field in the three-axis directions of the four corners of the receiving coil 115 is obtained, and the four three-axis coordinates of the four corners of the receiving coil 115 are obtained through the conversion of a distribution data model of the magnetic induction intensity of;
as an example, the magnetic induction intensity distribution data model may adopt a magnetic dipole model, that is, the transmitting coil is idealized to be a magnetic dipole, and the magnetic induction intensity B of the magnetic field in the XYZ triaxial directions at each point in the magnetic field coverage space can be obtainedx、ByAnd BzWhen the center (0,0,0) of the transmitting coil is set as the origin of the three-axis coordinate XYZ, the magnetic induction (B) of the magnetic field in the three-axis direction with respect to a certain point (x, y, z)x,By,Bz) Respectively, the following formulas:
wherein,BTthe parameters are fixed parameters related to the transmitting coil, related to the coil turns, material, diameter and other parameters, and need to be calibrated in advance according to different transmitting coils;
according to the model, three-axis coordinates (X, Y, z) of the measuring point can be obtained, so that the coordinates of the four corners of the receiving coil on an X-Y plane can be continuously obtained according to the magnetic induction intensity of the three-axis magnetic field measured by the four corners of the receiving coil;
the deviation of the four corners of the electric automobile running to the receiving coil 115 in the X axis and the Y axis is reduced to be within the allowable deviation range between the coils when the wireless charging system is charged through the manual operation of a driver or the automatic parking of the automobile and the adjustment of the automatic driving system to the automobile, and the deviation is aligned as accurately as possible;
step eight, in the final alignment stage, that is, when the projection of the receiving coil 115 and the transmitting coil 111 are overlapped, the final alignment state can be judged or assisted to be judged by adopting a magnetic field positioning calibration value, that is, the magnetic field magnetic induction intensity value B corresponding to the magnetic resistance sensor in the Z' axis direction within the allowable coil deviation range is calibrated in advance according to the difference of the transmitting coil 111z1And magnetic field induction B corresponding to the magnetoresistive sensor in the Z' -axis direction when the transmitter coil 111 and the receiver coil 115 are perfectly alignedz0；
When the magnetic induction intensity of the magnetic field received by the four magnetic resistance sensors at the four corners of the Z' axis of the receiving coil is not lower than the calibration value Bz1The transmitting coil 111 and the receiving coil can be considered as115, the position deviation is within the allowable range of charging; when the magnetic field magnetic induction intensity received by the Z' -axis sensors at four corners of the receiving coil is equal or the deviation value is minimum, and the received magnetic field magnetic induction intensity values are not lower than the calibration value Bz0When, the transmit coil 111 and receive coil 115 may be considered to be perfectly aligned;
ninthly, after the transmitting coil 111 is aligned with the receiving coil 115, exciting and transmitting a checking electromagnetic field through the transmitting coil 111, when four magnetoresistive sensors at four corners of the Z axis receive electromagnetic signals with amplitude values exceeding a certain intensity, taking the electromagnetic signals with long periods as 1, taking the electromagnetic signals with short periods as 0, and taking a binary code consisting of 01 as consistent with a pairing checking code value transmitted through communication, the checking is successful, the checking process of guiding alignment of the coils is completed, the ground communication control unit 108 transmits a signal to the vehicle-mounted communication control unit 112, confirms that wireless charging conditions are met, and starts wireless charging operation.
With the rapid development of intelligent driving technology, vision systems such as a look-around camera and the like are increasingly configured on an electric automobile, the accurate position relation between a transmitting coil and a receiving coil can be obtained when the automobile approaches a parking space or just enters the parking space through the image processing of the look-around camera, a driving path can be planned, and a driver or a parking system is guided to complete the alignment of the coils, so that the technical problem that the alignment operation of the electric automobile is easy to fail because the electric automobile needs to approach a detection magnetic field excitation source to obtain guidance data in the related technology is solved; on the other hand, the magneto-resistive sensor has high sensitivity and detection precision, can provide high-precision coordinate analysis within the action distance, and improves the accuracy and reliability of coil alignment by finishing the final alignment, inspection and verification of the coil by the magneto-resistive sensor; the invention has scientific and reasonable design, has higher alignment precision, safe and reliable work and higher cost performance compared with the coil alignment operation of wireless charging in the prior art;
the disclosure above is only one specific embodiment of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.

Claims (10)

1. Electric automobile wireless charging coil guide alignment device, its characterized in that includes: the system comprises ground transmitting equipment, vehicle-mounted receiving equipment, an image positioning system, a magnetic field excitation system and a magnetic resistance sensor group;
the ground transmitting equipment is arranged in the parking space and is electrically connected with a power supply grid; the vehicle-mounted receiving equipment is arranged at the bottom of the electric automobile and is electrically connected with the vehicle-mounted power battery;
the ground transmitting apparatus includes: the system comprises a ground communication control unit, a transmitting end power converter, a transmitting end resonant network and a transmitting coil; a transmitting coil winding used for exciting a magnetic field is arranged in the transmitting coil;
the vehicle-mounted receiving apparatus includes: the system comprises a vehicle-mounted communication control unit, a receiving end resonant network, a receiving end power converter and a receiving coil; a receiving coil winding for receiving a magnetic field is arranged in the receiving coil;
the image positioning system is powered by the power supply grid and is used for constructing a coordinate system of image pixels and guiding the electric automobile to align to the transmitting coil;
the magnetic field excitation system is arranged beside the transmitting coil and is powered by the power supply grid; the electromagnetic field is used for exciting and emitting electromagnetic field for guiding alignment to the space above the transmitting coil; the magnetic field excitation system comprises: the device comprises a signal generator, an amplifying and transmitting circuit and a transmitting antenna; when an electromagnetic field is generated by excitation, a sinusoidal signal is generated by a signal generator and sent to the amplifying and transmitting circuit for power amplification, the amplified sinusoidal signal drives a transmitting antenna, and the generation value of the electromagnetic field intensity of the transmitting antenna accords with the electromagnetic field intensity value allowed by national regulations when wireless charging in a public area is designed;
the magnetic resistance sensor groups are arranged at four corners of the receiving coil and used for detecting the magnetic induction intensity of each point of the electromagnetic field distributed in the parking space area emitted by the magnetic field excitation system.
2. The electric vehicle wireless charging coil guide alignment device according to claim 1, wherein the image positioning system comprises: a panoramic camera and an image processing unit; wherein the around view camera includes: the plurality of groups of cameras are arranged on the periphery of the vehicle body and are respectively used for acquiring images in the front direction, the rear direction, the left direction and the right direction of the vehicle; after the all-round images around the vehicle body are obtained, the multiple groups of cameras transmit the acquired images to the image processing unit, and after image processing, distortion correction and image stitching processing are carried out, a panoramic overlooking picture of the surrounding environment of the vehicle is obtained.
3. The electric vehicle wireless charging coil guiding and aligning device according to claim 2, wherein the camera adopts a wide-angle lens; the wide-angle lens is a 180-degree fisheye lens.
4. The electric vehicle wireless charging coil guiding and aligning device according to claim 1, wherein the transmitting antenna directly uses a transmitting coil winding of the transmitting coil to act, and the frequency of the electromagnetic field excited and emitted is in the range of 30KHz to 300 KHz.
5. The electric vehicle wireless charging coil guide alignment device according to claim 1, wherein the magnetoresistive sensor group comprises: 12 magnetoresistive sensors installed at four corners of the receiving coil, and 3 magnetoresistive sensors are installed at each corner;
each angle is provided with a magnetoresistive sensor in the three-axis directions of X ', Y ' and Z '; the four magnetic resistance sensors are arranged in the X 'axis direction, the magnetic field sensitive direction of the four magnetic resistance sensors is the-X' direction, and the magnetic field sensitive direction of the four magnetic resistance sensors is opposite to the traveling direction of the automobile when the coils are guided to align; the magnetic field sensitive directions of the four magnetic resistance sensors are opposite to each other and respectively face one side of the automobile body of the automobile; the magnetic field sensitivity direction of the magnetoresistive sensor positioned in the Y 'axis direction arranged on the left side of the receiving coil is the-Y' direction, and the magnetic field sensitivity direction of the magnetoresistive sensor positioned in the Y 'axis direction arranged on the right side of the receiving coil is the + Y' direction; the four magnetic resistance sensors arranged in the Z' axis direction are vertically arranged, namely are vertical to the receiving coil; the magnetic field sensitivity directions of the four magnetic resistance sensors are in the + Z' direction, are in the same direction with the axial direction of the receiving coil winding and point to the bottom of the vehicle.
6. The electric vehicle wireless charging coil guide alignment device according to claim 5, wherein the magneto-resistive sensor employs one or a combination of a hetero-magneto-resistive element, a giant magneto-resistive element, or a tunnel magneto-resistive element.
7. The electric vehicle wireless charging coil guiding and aligning device according to claim 1, 2, 3 or 4, wherein the set of magnetic resistance sensors can also be installed outside the receiving coil, and need to be maintained in the same plane with the receiving coil when installed, the number and distribution of the sensors are the same as those when installed at four corners of the receiving coil, three magnetic resistance sensors in the three-axis direction of X ' Y ' Z ' have a fixed positional relationship with one corner of the receiving coil, and coordinates obtained by the magnetic resistance sensors can be conveniently converted into positional coordinates of the four corners of the receiving coil.
8. Electric automobile wireless charging coil guide alignment method, characterized by, includes:
step one, when an automobile to be charged approaches or enters a parking space capable of being charged wirelessly, the electric automobile opens a vehicle-mounted communication control unit and establishes communication with a ground communication control unit;
secondly, the ground communication control unit sends a confirmation instruction to the vehicle-mounted communication control unit, starts to guide alignment operation, and sends parking space information, a magnetic field positioning calibration value and a pairing check code value to the vehicle-mounted communication control unit;
step three, when the electric automobile is guided to align to work, the ground communication control unit controls the magnetic field excitation system to generate an electromagnetic field; the transmission of the electromagnetic field is divided into two periods, and no signal is transmitted by the electromagnetic signal in the first period; the second period is that the electromagnetic field is emitted to the upper space by the emitting coil; in the first period, the magnetic induction intensity of the ambient magnetic field is measured by the magnetic resistance sensor group; in the second period, the magnetic induction intensity measured by the magnetic resistance sensor group is subtracted from the environmental magnetic induction intensity in the first period, so that the magnetic induction intensity of the magnetic field distributed at the position where the electromagnetic field emitted by the transmitting coil is located can be obtained;
step four, guiding the alignment operation of the electric automobile to adopt an image positioning mode, taking a panoramic overlook picture of the parking space by a panoramic camera of an image positioning system, converting the picture into a gray picture by an image processing unit through visual angle conversion, identifying a sign line of the parking space according to the color and geometric characteristics of the sign line of the parking space, reconstructing an outer contour image of the parking space through image processing and correction, and establishing an image coordinate system with image pixels as units according to the resolution of the image processing unit;
the position relation between the transmitting coil and the parking space is fixed, the installation position of the receiving coil on the electric automobile is also fixed, and the image pixel deviation values of the four corners of the receiving coil and the four corners of the transmitting coil on an X-Y plane can be determined according to the position of the panoramic camera and an image coordinate system established by an image positioning system; the image pixel coordinates of four corners of the receiving coil on an X-Y plane can be determined by taking the center (0,0,0) of the transmitting coil as an origin; the geometric dimension of the parking space is known, and the actual dimension value corresponding to the image pixel can be obtained according to the geometric dimension of the parking space, including the length and the width of the parking space or the width of the sign line and other dimension values, so that the actual dimension coordinate of four corners of the receiving coil on an X-Y plane can be determined;
step five, the image processing unit sends the obtained four-corner coordinates of the receiving coil to the vehicle-mounted communication control unit, and the four-corner coordinates of the receiving coil are continuously updated by the image positioning system in the process of traveling;
when the guiding alignment operation of wireless charging is manually operated by a driver, deviation between coils can be displayed through terminals such as a mobile phone and a vehicle-mounted center console, a parking path aligned with the coils is indicated according to position deviation planning between the coils, and driving instructions for adjusting the traveling direction such as steering direction and steering angle are displayed for the driver;
when automatic parking or automatic driving is adopted, the coordinates of the four corners of the receiving coil are sent to a parking system, and the parking system plans an automatic parking path and realizes the alignment of the coil;
the electric automobile is operated through the manual operation or the automatic parking system, so that the X' axis of the receiving coil and the X axis of the transmitting coil are superposed when the electric automobile moves, and the electric automobile gradually approaches to the transmitting coil;
step six, when the electric automobile approaches to the position of the transmitting coil gradually, the strength of the electromagnetic field signal sent by the magnetic field excitation system is received by the magnetic resistance sensor group to be increased gradually, because the measurement of the panoramic camera may have delay of processing speed and some calculation deviation, and meanwhile, the external environment may have interference, when the magnetic induction strength of the magnetic field sent by the magnetic field excitation system is enough to cover all the magnetic resistance sensors, the positioning guide operation of the electric automobile is switched to adopt the coordinate data generated by the magnetic resistance sensor group to guide alignment operation in real time;
seventhly, the vehicle-mounted communication control unit sends the continuously acquired magnetic induction intensity, namely 4 × 3 magnetic induction intensity values in the three-axis directions of the four corners X ' Y ' Z ' of the receiving coil, voltage values generated by the change of the magnetic induction intensity are sent to an analog quantity conversion circuit of the vehicle-mounted communication control unit to be processed and converted into digital signals, magnetic field magnetic induction intensities in the three-axis directions of the four corners of the receiving coil are obtained, and four three-axis coordinates of the four corners of the receiving coil are obtained through the conversion of a distribution data model of the magnetic field magnetic induction intensities;
the deviation of the four corners of the electric automobile driven to the receiving coils in the X axis and the Y axis is reduced to be within the allowable deviation range between the coils when the wireless charging system is charged through the manual operation of a driver or the automatic parking of the automobile and the adjustment of the automatic driving system to the automobile, and the electric automobile is aligned as accurately as possible;
step eight, in the final alignment stage, namely when the projection of the receiving coil and the transmitting coil are overlapped, the calibration value can be positioned by adopting the magnetic fieldTo judge or assist in judging the final alignment state, i.e. to calibrate in advance the magnetic induction intensity value B of the magnetic field corresponding to the magnetoresistive sensor in the Z' axis direction within the allowable coil deviation range according to the difference of the transmitting coilz1And magnetic induction B of magnetic field corresponding to the magnetoresistive sensor in the Z' -axis direction when the transmitter coil and the receiver coil are completely alignedz0；
When the magnetic induction intensity of the magnetic field received by the four magnetic resistance sensors at the four corners of the Z' axis of the receiving coil is not lower than the calibration value Bz1When the charging is carried out, the transmitting coil and the receiving coil are considered to be aligned, and the position deviation is within the allowable range of charging; when the magnetic field magnetic induction intensity received by the Z' -axis sensors at four corners of the receiving coil is equal or the deviation value is minimum, and the received magnetic field magnetic induction intensity values are not lower than the calibration value Bz0When the transmitter coil and the receiver coil are considered to be perfectly aligned;
and ninthly, after the transmitting coil is aligned with the receiving coil, a checking electromagnetic field is sent through excitation of the transmitting coil, when four magnetoresistive sensors at four corners of the Z axis receive electromagnetic signals with amplitude values exceeding a certain intensity, the long-period electromagnetic signals are taken as 1, the short-period electromagnetic signals are taken as 0, and a binary code consisting of 01 is consistent with a pairing checking code value sent through communication, the checking is successful, the checking process of guiding alignment of the coil is completed, the ground communication control unit sends a signal to the vehicle-mounted communication control unit, confirms that the wireless charging condition is met, and the wireless charging operation is started.
9. The electric vehicle wireless charging coil guiding alignment method according to claim 8, wherein the parking space information comprises: the length and width of the parking space, the width of the marking line and the size data of the installation position of the transmitting coil; the magnetic field positioning calibration includes: corresponding magnetic induction B within the permissible deviation rangez1Magnetic induction B of the magnetic field corresponding to the perfect alignment of the coilz0。
10. The method as claimed in claim 8, wherein for better recognition and reconstruction of parking spaces by the image positioning system, other markers such as lines, geometric figures, grids, etc. can be added to the parking spaces, and the markers are in fixed position relation with the parking space markers and the transmitting coil;
the magnetic field magnetic induction intensity distribution data model can adopt a magnetic dipole model, namely, a transmitting coil is idealized into a magnetic dipole, and the magnetic field magnetic induction intensity B of each point in XYZ three-axis directions in a magnetic field coverage space can be obtainedx、By and BzWhen the center (0,0,0) of the transmitting coil is set as the origin of the three-axis coordinate XYZ, the magnetic induction (B) of the magnetic field in the three-axis direction with respect to a certain point (x, y, z)x,By,Bz) Respectively, the following formulas:
wherein ,BTthe parameters are fixed parameters related to the transmitting coil, related to the coil turns, material, diameter and other parameters, and need to be calibrated in advance according to different transmitting coils;
according to the model, three-axis coordinates (X, Y, z) of the measuring point can be obtained, so that the coordinates of the four corners of the receiving coil on an X-Y plane can be continuously obtained according to the magnetic induction intensity of the three-axis magnetic field measured by the four corners of the receiving coil.
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CN113409589B (en) * 2021-06-17 2022-04-26 安徽信息工程学院 Device and method for detecting occupation of parking spot of charging pile based on microwave sensing license plate image
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CN114001745A (en) * 2021-10-25 2022-02-01 东南大学 Electric automobile parking guide system and position detection and evaluation method thereof
CN114056173A (en) * 2021-11-29 2022-02-18 中汽研新能源汽车检验中心(天津)有限公司 Electric vehicle wireless charging formal phase communication method
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