Foreign object removal device for wireless charging area

Abstract

This invention relates to the field of wireless power transmission technology, specifically disclosing a foreign object removal device for a wireless charging area. Installed underground at the center of the wireless charging area, it is not easily damaged. The device includes a vertical telescopic and rotating mechanism, a removal worktable, and a foreign object removal control circuit. Left and right telescopic arms are located on the sides of the removal worktable. During foreign object removal, the vertical telescopic drive structure extends upwards to a preset height above the ground, and then the left and right telescopic arms extend to the left and right while the rotating drive structure rotates. This device has a simple structure; the left and right telescopic arms extend during use and retract when not in use. This allows for a compact integration of the device underground at the center of the wireless charging area. The corresponding transmitting coil at the center of the wireless charging area is also hollow; only the corresponding magnetic core and magnetic shielding plate need to be hollow, minimizing the impact on wireless power transmission efficiency. Furthermore, the rotating left and right telescopic arms ensure effective foreign object removal.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, and more particularly to a foreign object removal device for a wireless charging area. Background Technology

[0002] Wireless power transfer (WPT) is a technology that integrates power electronics and automatic control theories and technologies to enable the loosely coupled, non-electrically contactless transmission of electrical energy between the power grid (or battery) and electrical devices via a medium (such as an electric field, magnetic field, microwave, or laser). Compared to traditional electrical contact-based power access technologies, wireless power transfer offers advantages such as higher reliability and security, smaller footprint, flexible usage, less susceptibility to external environmental interference, strong grid interaction capabilities, and applicability in certain extreme environments and special conditions. Therefore, it is finding increasingly widespread development and application in consumer electronics, healthcare, electric vehicles, and other fields.

[0003] Magnetic field-coupled wireless power transfer uses a high-frequency alternating current in the transmitting coil to generate a high-frequency alternating magnetic field, which serves as the carrier for power transmission. However, when metallic foreign objects (such as coins, keys, paper clips, tin foil, coated aluminum foil lunch boxes, or mobile phones) appear in or around the transmitting coil of the MC-WPT system (wireless charging area), they will alter the distribution of the high-frequency alternating magnetic field, leading to a decrease in system transmission efficiency. Furthermore, metallic foreign objects can generate heat due to eddy current effects and hysteresis losses, posing a safety hazard. Therefore, detection technology for metallic foreign objects is indispensable to ensure the safe operation and efficiency of the MC-WPT system. In real life, other types of foreign objects, such as living organisms, may enter the wireless charging area. Excessive temperatures in the wireless charging area (e.g., too close to metallic foreign objects, abnormal temperature rise in the chassis of electric vehicles) may burn living organisms, causing them to jump around erratically, potentially damaging the wireless charging system and endangering others. Other foreign objects, such as plastic and paper scraps, especially plastic, can pose safety hazards due to high temperatures (close to metallic foreign objects) (melting, emitting unpleasant odors). Therefore, the removal of these three types of foreign objects is of utmost importance.

[0004] Current methods for removing foreign objects mostly employ removal devices or special structural designs to prevent foreign objects from adhering to the wireless charging area. Removal devices are often quite complex. For example, the invention patent application CN201710791440.7, "Foreign Object Removal Device and its Method of Use for Wireless Power Transmission Systems," uses large lifting and translation components. While it achieves good removal results, its complex structure, large space occupation, and significant modifications to parking spaces result in high structural and installation costs. Special structural designs, such as the invention patent application CN202111352642.4, "Vehicle Wireless Charging Device with Foreign Object Detection and Removal Function and its Control Method," use a curved surface and a vibration motor for foreign object removal. However, this method cannot remove strongly adhered foreign objects, and the transmitting coil structure is also deformed, reducing transmission efficiency. Furthermore, this protruding design is easily damaged. Summary of the Invention

[0005] The present invention provides a foreign object removal device for wireless charging areas, and the technical problem it solves is: how to provide a foreign object removal device with simple structure, good foreign object removal effect, minimal impact on wireless power transmission efficiency and not easily damaged.

[0006] To solve the above technical problems, the present invention provides a foreign object removal device for a wireless charging area, which is installed under the ground at the center of the wireless charging area in a wireless charging parking space, and includes: an up-and-down telescopic rotation mechanism, a removal worktable, and a foreign object removal control circuit.

[0007] The vertical telescopic and rotating mechanism includes a vertical telescopic drive structure, a rotating drive structure, and a vertical telescopic rod. One end of the vertical telescopic rod is connected to the vertical telescopic drive structure and the rotating drive structure, and the other end is connected to the cleaning workbench.

[0008] The top of the cleaning workbench is set as a cover plate that fits with the opening in the center of the wireless charging area. The sides of the cleaning workbench are equipped with two or more left and right telescopic arms of different heights, and each left and right telescopic arm is connected to a left and right telescopic drive structure.

[0009] The foreign object removal control circuit is connected to the vertical telescopic drive structure, the rotation drive structure, and the left and right telescopic drive structure. After receiving a foreign object removal command, the foreign object removal control circuit controls the vertical telescopic drive structure to extend upward to a preset height above the ground, and then controls the left and right telescopic arms to extend left and right while simultaneously controlling the rotation drive structure to rotate.

[0010] Specifically, the foreign object removal control circuit controls the left and right telescopic arms to extend to the left and right while simultaneously controlling the rotation drive structure to rotate, specifically:

[0011] The foreign object removal control circuit controls the left and right telescopic arms to extend to the left and right at a speed of A cm / s until they reach the maximum arm length. At the same time, it controls the rotation drive structure to rotate at a fixed speed of B revolutions / s. After reaching the maximum arm length, the arm length remains unchanged. The rotation drive structure is controlled to rotate for a first preset time period and then stop rotating. Then, the left and right telescopic arms are controlled to retract, and the upper and lower telescopic rods are controlled to retract downwards until the cover plate matches the opening at the center of the wireless charging area.

[0012] Specifically, after the left and right telescopic arms retract, the upper and lower telescopic rods are not controlled to retract downwards immediately. Instead, the foreign object detection component is activated to detect foreign objects. If foreign objects are still present, the left and right telescopic arms are controlled to extend to the left and right again while the rotation drive structure is controlled to rotate. If no foreign objects are present, the upper and lower telescopic rods are controlled to retract downwards until the cover plate matches the opening at the center of the wireless charging area.

[0013] Specifically, the maximum arm length of the left and right telescopic arms is greater than or equal to the radius of the circumscribed circle of the wireless charging area.

[0014] Specifically, the left and right telescopic arms are round rods; there are two left and right telescopic arms. When the vertical telescopic drive structure extends upward to a preset height above the ground, the two left and right telescopic arms are respectively located in the range of 0cm to 5cm and 5cm to 10cm above the ground, and the diameter of each left and right telescopic arm is between 4cm and 5cm, and the height difference between the two left and right telescopic arms does not exceed 0.5cm.

[0015] Specifically, the foreign object removal device also includes a foreign object identification component; the foreign object identification component includes one or more ultrasonic sensors installed on the wireless charging parking space and aligned with the wireless charging area, two or more light sensors installed on the four sides of the wireless charging area of ​​the wireless charging parking space, and an imaging module installed on the side of the removal workbench; the ultrasonic sensors, the light sensors, and the imaging module are all connected to the foreign object removal control circuit; the imaging module includes an infrared thermal imager and a camera;

[0016] The foreign object removal control circuit is also used to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space using the ultrasonic sensor, the light sensor, and the imaging module before charging is started, during charging, and during foreign object removal.

[0017] Specifically, the foreign object removal control circuit uses the ultrasonic sensor, the light sensor, and the imaging module to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space before and during charging. The specific steps include:

[0018] S21. Use an ultrasonic sensor to detect the wireless charging area and determine whether there are foreign objects in the wireless charging area. If so, proceed to step S22; otherwise, continue the detection.

[0019] S22. Determine whether there are foreign objects in the center of the wireless charging area based on the detection signal of the ultrasonic sensor. If so, rotate the rotating drive structure at a fixed speed to remove the foreign objects on the cover plate using centrifugal force. After stopping the rotation, wait for a preset time period and then proceed to step S23. Otherwise, proceed directly to step S24.

[0020] S23. Use an ultrasonic sensor to detect the wireless charging area and determine whether the foreign object in the wireless charging area is no longer there. If it is no longer there, return to step S21. If there is a foreign object in the area outside the center of the wireless charging area, proceed to step S24. If there is still a foreign object in the center of the wireless charging area, return to step S21.

[0021] S24. Four light sensors are used to obtain the light intensity on the current wireless charging area, and the shooting mode of the camera is set according to the light intensity. When the light intensity of all light sensors is less than the preset light intensity threshold, the shooting mode of the camera is set to night mode, and otherwise to day mode.

[0022] S25. The infrared thermal imager is used to take pictures of the wireless charging area to obtain thermal images, and the camera is used to take pictures of the wireless charging area to obtain physical images.

[0023] S26. Based on the thermal imaging image and the actual object image, identify the type of foreign object and activate the foreign object removal device to remove the foreign object.

[0024] Specifically, the foreign object removal process uses the ultrasonic sensor, the light sensor, and the imaging module to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space, and only includes steps S25 and S26.

[0025] Specifically, in step S25, the infrared thermal imager is used to take pictures of the wireless charging area to obtain thermal images, which specifically includes the following steps:

[0026] Extend the imaging module out of the ground at a predetermined height;

[0027] By rotating the imaging module one full turn, the infrared thermal imager captures images of the wireless charging area from different angles, obtaining raw thermal images.

[0028] Identify the wireless charging area border in each original thermal imaging frame, and crop out the area outside the wireless charging area border to obtain a clean thermal imaging frame.

[0029] The clean frames of each thermal image are fused to obtain a thermal image of the wireless charging area.

[0030] In step S25, the camera is used to take pictures of the wireless charging area to obtain physical images, specifically including the following steps:

[0031] During the rotation of the imaging module, the camera captures images of the wireless charging area from different angles, obtaining the original frames of the physical object.

[0032] Identify the border of the wireless charging area in each original frame of the object, and crop out the area outside the border of the wireless charging area to obtain the clean frame of the object.

[0033] The clean frames of each object are fused together to obtain a physical image of the wireless charging area.

[0034] Specifically, step S6 is as follows:

[0035] The thermal imaging image from the previous moment and the image of the object from the current moment are input into the trained foreign object classification model. The foreign object classification model outputs the corresponding foreign object type and marks the location of each type of foreign object on the image of the object at the current moment.

[0036] The foreign object classification model can classify foreign objects into three categories: metallic foreign objects, biological foreign objects, and other foreign objects. In the process of training the foreign object classification model, the dataset samples used are the thermal imaging images and the actual object images generated under the same environment, in which the location and type of foreign objects are marked.

[0037] The foreign object removal device for wireless charging areas provided by this invention is installed underground in the center of the wireless charging area in a wireless charging parking space, making it resistant to damage. The device includes a vertical telescopic rotating mechanism, a removal worktable, and a foreign object removal control circuit. Left and right telescopic arms are located on the sides of the removal worktable. When the foreign object removal control circuit receives a foreign object removal command, it controls the vertical telescopic drive structure to extend upwards to a preset height above the ground, and then controls the left and right telescopic arms to extend to the left and right while simultaneously controlling the rotation drive structure to rotate. During the rotation of the left and right telescopic arms, foreign objects in the wireless charging area are swept out. This device has a simple structure; the left and right telescopic arms extend when in use and retract when not in use. This allows for a compact integration of the device underground in the center of the wireless charging area. The corresponding transmitting coil portion in the center of the wireless charging area is also hollow; only the corresponding magnetic core and magnetic shielding plate need to be hollow, minimizing the impact on wireless power transmission efficiency. Furthermore, the rotating left and right telescopic arms ensure good foreign object removal performance. Attached Figure Description

[0038] Figure 1This is a schematic diagram of the installation position of the foreign object removal device in the wireless charging area provided in an embodiment of the present invention;

[0039] Figure 2 This is a perspective view of the foreign object removal device for the wireless charging area provided in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the installation position of the foreign object removal device for the wireless charging area that integrates a foreign object identification component, provided in an embodiment of the present invention.

[0041] Figure 4 This is a flowchart of foreign object detection and foreign object identification provided in an embodiment of the present invention.

[0042] Reference numerals: 21-Up-down telescopic rotation mechanism, 22-Clearing worktable, 221-Cover plate, 222-Left and right telescopic arms, 11-Ultrasonic sensor, 12-Light sensor. Detailed Implementation

[0043] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are given for illustrative purposes only and should not be construed as limiting the present invention. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0044] This invention provides a foreign object removal device for a wireless charging area, such as... Figure 1 As shown, it is installed underground in the center of the wireless charging area of ​​the wireless charging parking space. Figure 2 As shown, the device includes an up-and-down telescopic rotation mechanism 21, a cleaning worktable 22, and a foreign object removal control circuit (not shown in the figure).

[0045] The vertical telescopic and rotating mechanism 21 includes a vertical telescopic drive structure, a rotating drive structure, and a vertical telescopic rod. One end of the vertical telescopic rod is connected to the vertical telescopic drive structure and the rotating drive structure, and the other end is connected to the cleaning worktable 22.

[0046] The top of the cleaning workbench 22 is set as a cover plate 221 that fits the opening in the center of the wireless charging area. Two or more left and right telescopic arms of different heights are installed on the side of the cleaning workbench, and each left and right telescopic arm 222 is connected to a left and right telescopic drive structure.

[0047] The foreign object removal control circuit is connected to the vertical telescopic drive structure, the rotation drive structure, and the left and right telescopic drive structure. After receiving the foreign object removal command, the foreign object removal control circuit controls the vertical telescopic drive structure to extend upward to a preset height above the ground, and then controls the left and right telescopic arms 222 to extend left and right while controlling the rotation drive structure to rotate.

[0048] The foreign object removal control circuit controls the left and right telescopic arms 222 to extend to the left and right, and simultaneously controls the rotation drive structure to rotate, specifically:

[0049] The foreign object removal control circuit controls the left and right telescopic arms 222 to extend to the left and right at a speed of A cm / s (a relatively slow speed) until they reach the maximum arm length. At the same time, it controls the rotation drive structure to rotate at a fixed speed of B revolutions / s. After reaching the maximum arm length, the arm length remains unchanged. The rotation drive structure is controlled to rotate for a first preset time period and then stop rotating. Then, the left and right telescopic arms 222 are controlled to retract, and the upper and lower telescopic rods are controlled to retract downwards until the cover plate 221 matches the opening at the center of the wireless charging area.

[0050] In this embodiment, the left and right telescopic arms 222 extend slowly at a relatively low speed. While rotating at a constant speed, they gradually expand outwards from the center of the wireless charging area to slowly remove foreign objects from the wireless charging zone, achieving a good foreign object removal effect. During the removal process, the rotation speed must be set relatively low. If the rotation speed is too high, it may damage the foreign object, startle living organisms, frighten pedestrians, hit pedestrians, or displace the object into the wireless charging area of ​​other parking spaces.

[0051] In order to cover the entire wireless charging area, the maximum arm length of the left and right telescopic arms 222 is greater than or equal to the radius of the circumscribed circle of the wireless charging area.

[0052] To reduce the likelihood of foreign objects adhering to the left and right telescopic arms 222, the left and right telescopic arms 222 are designed as round rods with relatively smooth surfaces. To ensure a better foreign object removal effect, two left and right telescopic arms 222 are provided. When the vertical telescopic drive structure extends upward to a preset height above the ground, the two left and right telescopic arms 222 are located in the ranges of 0cm to 5cm and 5cm to 10cm above the ground, respectively. The diameter of each left and right telescopic arm 222 is between 4cm and 5cm, and the height difference between the two left and right telescopic arms 222 does not exceed 0.5cm. This distance and height difference make it less likely that foreign objects will cross the left and right telescopic arms 222 or pass through the gap between the left and right telescopic arms 222 during rotation and remain in the already cleaned area, ensuring a better foreign object removal effect. Additionally, when a small, low-lying foreign object is detected (such as a coin), only one of the lower left and right telescopic arms 222 needs to be activated to avoid wasting resources. The left and right telescopic arms 222 are almost touching the wireless charging area. If the foreign object is found to still be in its original position after removal, it may be because the lower left and right telescopic arms 222 are too high off the ground. The height of the cleaning platform 22 can be adjusted by the up-and-down telescopic rotation mechanism 21 so that the left and right telescopic arms 222 do not make pressure contact with the wireless charging area, and then the removal can be performed again.

[0053] In addition, in order not to affect the power transmission during the foreign object removal process, the entire device must be magnetically shielded.

[0054] Specifically, the foreign object removal device also includes a foreign object recognition component. After the left and right telescopic arms 222 retract, the upper and lower telescopic rods are not controlled to retract downwards immediately. Instead, the foreign object recognition component is activated to detect foreign objects. If foreign objects are still present, the left and right telescopic arms 222 are controlled to extend to the left and right again while the rotation drive structure is controlled to rotate. If no foreign objects are present, the upper and lower telescopic rods are controlled to retract downwards until the cover plate 221 aligns with the opening at the center of the wireless charging area.

[0055] As an example, such as Figure 3 As shown, the foreign object identification component includes one or more ultrasonic sensors 11 installed on the wireless charging parking space and aligned with the wireless charging area, two or more light sensors 12 installed on the four sides of the wireless charging area of ​​the wireless charging parking space, and an imaging module installed on the side of the cleaning workbench 22; the ultrasonic sensors 11, light sensors 12 and imaging module are all connected to the foreign object removal control circuit; the imaging module includes an infrared thermal imager and a camera.

[0056] The foreign object removal control circuit is also used to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space using ultrasonic sensor 11, light sensor 12, and imaging module before charging is started, during charging, and during foreign object removal.

[0057] like Figure 4 As shown in the flowchart, the foreign object removal control circuit uses an ultrasonic sensor 11, a light sensor 12, and an imaging module to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space before charging begins and during charging. The specific steps include:

[0058] S21. Use ultrasonic sensor 11 to detect the wireless charging area and determine whether there are foreign objects in the wireless charging area. If there are, proceed to step S22; otherwise, continue the detection.

[0059] S22. Determine whether there is a foreign object in the center of the wireless charging area based on the detection signal of the ultrasonic sensor 11. If so, rotate the imaging module at a fixed speed to remove the foreign object in the center using centrifugal force. After stopping the rotation, wait for a preset time period and then proceed to step S23. Otherwise, proceed directly to step S24.

[0060] S23. Use ultrasonic sensor 11 to detect the wireless charging area and determine whether the foreign object in the wireless charging area is no longer there. If it is no longer there, return to step S21. If there is a foreign object in the area outside the center of the wireless charging area, proceed to step S24. If there is still a foreign object in the center of the wireless charging area, return to step S21.

[0061] S24. Four light sensors 12 are used to obtain the light intensity on the current wireless charging area, and the shooting mode of the camera is set according to the light intensity. When the light intensity of all light sensors 12 is less than the preset light intensity threshold, the shooting mode of the camera is set to night mode, and otherwise to day mode.

[0062] S25. An infrared thermal imager is used to take pictures of the wireless charging area to obtain thermal images, and a camera is used to take pictures of the wireless charging area to obtain physical images.

[0063] S26. Identify the type of foreign object based on thermal imaging images and physical object images.

[0064] In this example, the ultrasonic sensor 11 is first used to perform preliminary detection of foreign objects (i.e., step S21). If foreign objects are found, the next step is performed to avoid directly starting the more complex foreign object identification work later, which would waste computing resources and power consumption.

[0065] Before foreign object identification, since the imaging module is installed under the ground at the center of the wireless charging area, it is necessary to ensure that there are no foreign objects at the center of the wireless charging area. Therefore, step S22 is used to perform another foreign object detection. Steps S22 and S21 can be omitted as one step. That is, only one detection is needed using an ultrasonic sensor to know whether there are foreign objects at the center of the wireless charging area and whether there are foreign objects in the entire wireless charging area.

[0066] If there is a foreign object in the center, the imaging module is rotated at a fixed speed (high) to remove the foreign object in the center by using a large centrifugal force. This method of using centrifugal force will not damage the foreign object and the removal effect is good. However, this method may remove the foreign object outside the center but still in the center of the wireless charging area, so it is necessary to detect the foreign object again (step S23).

[0067] If a foreign object is detected again outside the center, the light sensor is used to obtain the light intensity on the current wireless charging area. The camera's shooting mode is adjusted according to the light intensity to ensure that the captured images are clear and of high quality, which helps to ensure the accuracy of foreign object identification in step S26.

[0068] Next, an infrared thermal imager is used to acquire thermal images, and a camera with a pre-set mode is used to take photos of the object. Finally, the two types of photos are combined and a neural network model is used to identify the type of foreign object, which can achieve high accuracy in foreign object identification.

[0069] Specifically, in step S25, an infrared thermal imager is used to take pictures of the wireless charging area to obtain thermal images, which includes the following steps:

[0070] Extend the imaging module out of the ground at a preset height;

[0071] The infrared thermal imager captures the wireless charging area from different angles by rotating the imaging module around one revolution, thus obtaining the raw thermal image frame.

[0072] Identify the wireless charging area border in each original thermal imaging frame, and crop out the area outside the wireless charging area border to obtain a clean thermal imaging frame.

[0073] The clean frames from each thermal imaging image are fused to obtain a thermal image of the wireless charging area.

[0074] Considering the limited shooting angle of the infrared thermal imager and the limited extension height of the imaging module, this example uses image fusion to ensure the quality of the thermal images.

[0075] Specifically, in step S25, a camera is used to take a picture of the wireless charging area to obtain a physical image, which includes the following steps:

[0076] During the process of rotating the imaging module, the camera captures the wireless charging area from different angles, obtaining the original frames of the actual object.

[0077] Identify the border of the wireless charging area in each original frame of the object, and crop out the area outside the border of the wireless charging area to obtain the clean frame of the object.

[0078] The clean frames of each object are fused together to obtain a physical image of the wireless charging area.

[0079] Considering the limited shooting angle of the camera and the limited extension height of the imaging module, this example uses image fusion to ensure the quality of the actual image.

[0080] It should be noted that the infrared thermal imager and the camera are turned on simultaneously and have the same sampling frequency, so the generated thermal images and the actual images correspond highly in time.

[0081] Step S26 is as follows:

[0082] The thermal imaging images from the previous moment and the current moment, along with the images of the actual objects, are input into the trained foreign object classification model. The model outputs the corresponding foreign object types and marks the locations of each type of foreign object on the current image of the actual objects.

[0083] The foreign object classification model can classify foreign objects into three categories: metallic foreign objects, biological foreign objects, and other foreign objects. In the process of training the foreign object classification model, the dataset samples used are thermal imaging images and real object images generated in the same environment, in which the location and type of foreign objects are labeled.

[0084] This example uses a neural network to identify foreign objects. By collecting and processing the dataset, building the network and designing the parameters, training the model, optimizing the parameters and testing, a high classification accuracy and a fast classification speed can be obtained. The trained neural network is directly deployed in the control module (14).

[0085] It should also be noted that in order to install the imaging module in the center of the wireless charging area, the center of the primary transmitting coil, the primary magnetic core, and the primary magnetic shielding plate all need to be hollowed out. In addition, in order to install the vertical telescopic rotating mechanism 21, it is also necessary to dig to a corresponding depth underground.

[0086] This embodiment employs an ultrasonic sensor 11, a camera, a light sensor 12, and an infrared thermal imager, combined with image processing technology and a neural network model for foreign object identification. This achieves high accuracy in foreign object recognition, precisely distinguishing whether foreign objects interfering with the wireless charging area are metallic, biological, or other types, and marking the location of each object. Garage managers can then target and remove foreign objects based on their type and location. This foreign object identification feature can be integrated with other aspects of the wireless charging system design to achieve higher-quality control.

[0087] It should be noted that the aforementioned foreign object detection component is not only used for foreign object identification during the foreign object removal process, but can also be used independently for foreign object detection whenever needed, and can be configured according to actual requirements.

[0088] It should also be noted that the foreign object removal device for the wireless charging area provided in this embodiment is applicable to any foreign object detection or identification method. As long as a foreign object is detected in the wireless charging area and needs to be removed, this foreign object removal device can be used. Furthermore, the foreign object removal device can be used to remove foreign objects from the wireless charging area at any time. Its foreign object removal command can be based on the results of short-range foreign object detection or identification, or it can be based on a remote foreign object removal command (for example, if a garage manager finds a foreign object in the wireless charging area, the foreign object removal device can be activated wirelessly, which of course requires the foreign object removal device to have wireless communication capabilities).

[0089] In summary, the foreign object removal device for wireless charging areas provided in this embodiment of the invention is installed under the ground at the center of the wireless charging area in a wireless charging parking space, making it difficult to damage. The device includes a vertical telescopic rotation mechanism 21, a removal workbench 22, and a foreign object removal control circuit. The removal workbench 22 has left and right telescopic arms 222 on its sides. When the foreign object removal control circuit receives a foreign object removal command, it controls the vertical telescopic drive structure to extend upwards to a preset height above the ground, and then controls the left and right telescopic arms 222 to extend left and right while simultaneously controlling the rotation drive structure to rotate. During the rotation of the left and right telescopic arms 222, foreign objects in the wireless charging area are swept out of the wireless charging area. This device has a simple structure; the left and right telescopic arms 222 unfold when in use and retract when not in use. This allows the device to be integrated compactly under the ground at the center of the wireless charging area. The corresponding transmitting coil portion at the center of the wireless charging area is also hollow; only the corresponding magnetic core and magnetic shielding plate need to be hollow, minimizing the impact on wireless power transmission efficiency. Furthermore, the rotation of the left and right telescopic arms 222 ensures good foreign object removal performance.

[0090] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A foreign object removal device for a wireless charging area, characterized in that, Installed under the ground at the center of the wireless charging area in the wireless charging parking space, including: an up-and-down telescopic rotating mechanism (21), a cleaning workbench (22), and a foreign object removal control circuit; The vertical telescopic and rotating mechanism (21) includes a vertical telescopic drive structure, a rotating drive structure and a vertical telescopic rod. One end of the vertical telescopic rod is connected to the vertical telescopic drive structure and the rotating drive structure, and the other end is connected to the cleaning workbench (22). The transmitting coil part corresponding to the center of the wireless charging area is hollow; the top of the cleaning workbench (22) is set as a cover plate (221) that fits the opening at the center of the wireless charging area; the side of the cleaning workbench is equipped with two or more left and right telescopic arms (222) of different heights, and each left and right telescopic arm (222) is connected to a left and right telescopic drive structure. The foreign object removal control circuit is connected to the vertical telescopic drive structure, the rotation drive structure and the left and right telescopic drive structure. After receiving the foreign object removal command, the foreign object removal control circuit controls the vertical telescopic drive structure to extend upward to a preset height above the ground, and then controls the left and right telescopic arms (222) to extend left and right while controlling the rotation drive structure to rotate.

2. The foreign object removal device for the wireless charging area according to claim 1, characterized in that, The foreign object removal control circuit controls the left and right telescopic arms (222) to extend to the left and right while simultaneously controlling the rotation drive structure to rotate, specifically: The foreign object removal control circuit controls the left and right telescopic arms (222) to extend to the left and right at a speed of Acm / second until the maximum arm length is reached. At the same time, it controls the rotation drive structure to rotate at a fixed speed of B revolutions / second. After reaching the maximum arm length, the arm length remains unchanged. The rotation drive structure is controlled to rotate for a first preset time period and then stop rotating. Then, the left and right telescopic arms (222) are controlled to retract. Then, the upper and lower telescopic rods are controlled to retract downwards until the cover plate (221) matches the opening at the center of the wireless charging area.

3. The foreign object removal device for the wireless charging area according to claim 2, characterized in that: The foreign object removal device also includes a foreign object identification component; after the left and right telescopic arms (222) retract, the upper and lower telescopic rods are not controlled to retract downwards first, but the foreign object identification component is activated to detect foreign objects. If there are still foreign objects, the left and right telescopic arms (222) are controlled to extend to the left and right again while the rotation drive structure is controlled to rotate. If there are no foreign objects, the upper and lower telescopic rods are controlled to retract downwards until the cover plate (221) matches the opening at the center of the wireless charging area.

4. The foreign object removal device for the wireless charging area according to claim 2, characterized in that: The maximum arm length of the left and right telescopic arms (222) is greater than or equal to the radius of the circumscribed circle of the wireless charging area.

5. The foreign object removal device for the wireless charging area according to claim 4, characterized in that: The left and right telescopic arms (222) are configured as round rods; there are two left and right telescopic arms (222). When the upper and lower telescopic drive structure extends upward to a preset height above the ground, the two left and right telescopic arms (222) are respectively located in the range of 0cm~5cm and 5cm~10cm from the ground, and the diameter of each left and right telescopic arm (222) is between 4cm and 5cm, and the height difference between the two left and right telescopic arms (222) does not exceed 0.5cm.

6. The foreign object removal device for the wireless charging area according to claim 3, characterized in that: The foreign object identification component includes one or more ultrasonic sensors (11) installed on the wireless charging parking space and aligned with the wireless charging area, two or more light sensors (12) installed on the four sides of the wireless charging area of ​​the wireless charging parking space, and an imaging module installed on the side of the cleaning workbench (22); the ultrasonic sensors (11), the light sensors (12) and the imaging module are all connected to the foreign object removal control circuit; the imaging module includes an infrared thermal imager and a camera; The foreign object removal control circuit is also used to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space using the ultrasonic sensor (11), the light sensor (12), and the imaging module before charging is started, during charging, and during foreign object removal.

7. The foreign object removal device for the wireless charging area according to claim 6, characterized in that, The foreign object removal control circuit uses the ultrasonic sensor (11), the light sensor (12), and the imaging module to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space before and during charging. Specifically, the steps include: S21. Use an ultrasonic sensor (11) to detect the wireless charging area and determine whether there are foreign objects in the wireless charging area. If so, proceed to step S22; otherwise, continue the detection. S22. Determine whether there is a foreign object in the center of the wireless charging area based on the detection signal of the ultrasonic sensor (11). If so, rotate the rotating drive structure at a fixed speed to remove the foreign object on the cover plate (221) using centrifugal force. After stopping the rotation, wait for a preset time period and then proceed to step S23. Otherwise, proceed directly to step S24. S23. Use an ultrasonic sensor (11) to detect the wireless charging area and determine whether the foreign object in the wireless charging area is no longer there. If it is no longer there, return to step S21. If there is a foreign object in the area outside the center of the wireless charging area, proceed to step S24. If there is still a foreign object in the center of the wireless charging area, return to step S21. S24. Four light sensors (12) are used to obtain the light intensity on the current wireless charging area, and the shooting mode of the camera is set according to the light intensity. When the light intensity of all light sensors (12) is less than the preset light intensity threshold, the shooting mode of the camera is set to night mode, and otherwise to day mode. S25. The infrared thermal imager is used to take pictures of the wireless charging area to obtain thermal images, and the camera is used to take pictures of the wireless charging area to obtain physical images. S26. Based on the thermal imaging image and the actual object image, identify the type of foreign object and activate the foreign object removal device to remove the foreign object.

8. The foreign object removal device for the wireless charging area according to claim 7, characterized in that: The foreign object removal process uses the ultrasonic sensor (11), the light sensor (12), and the imaging module to detect and identify foreign objects in the wireless charging area of ​​the wireless charging parking space, including only steps S25 and S26.

9. The foreign object removal device for the wireless charging area according to claim 8, characterized in that: In step S25, the infrared thermal imager is used to take pictures of the wireless charging area to obtain thermal images, specifically including the following steps: Extend the imaging module out of the ground at a predetermined height; By rotating the imaging module one full turn, the infrared thermal imager captures images of the wireless charging area from different angles, obtaining raw thermal images. Identify the wireless charging area border in each original thermal imaging frame, and crop out the area outside the wireless charging area border to obtain a clean thermal imaging frame. The clean frames of each thermal image are fused to obtain a thermal image of the wireless charging area. In step S25, the camera is used to take pictures of the wireless charging area to obtain physical images, specifically including the following steps: During the rotation of the imaging module, the camera captures images of the wireless charging area from different angles, obtaining the original frames of the physical object. Identify the border of the wireless charging area in each original frame of the object, and crop out the area outside the border of the wireless charging area to obtain the clean frame of the object. The clean frames of each object are fused together to obtain a physical image of the wireless charging area.

10. The foreign object removal device for the wireless charging area according to claim 9, characterized in that, Step S26 specifically involves: The thermal imaging image from the previous moment and the image of the object from the current moment are input into the trained foreign object classification model. The foreign object classification model outputs the corresponding foreign object type and marks the location of each type of foreign object on the image of the object at the current moment. The foreign object classification model can classify foreign objects into three categories: metallic foreign objects, biological foreign objects, and other foreign objects. In the process of training the foreign object classification model, the dataset samples used are the thermal imaging images and the actual object images generated under the same environment, in which the location and type of foreign objects are marked.

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