Device moving method and transmitting end device

Abstract

The embodiments of the present application provide a device movement method and a transmitting device. In this method, the transmitting device can control the horizontal movement of the receiving device to achieve horizontal alignment, and control the vertical movement of the transmitting coil (the charging coil in the transmitting device) to achieve vertical alignment. When both the horizontal and vertical alignments are completed, it means that the transmitting coil and the receiving coil (the charging coil in the receiving device) are aligned so that the centers of the transmitting coil and the receiving coil coincide. In this way, the efficiency of the transmitting device charging the receiving device can be improved, the heat generation of the receiving device can be reduced, and the time of high-power wireless charging can be extended.

Description

Technical Field

[0001] The present application relates to the field of wireless charging technology, and in particular to a device movement method and a transmitting end device. Background Art

[0002] Wireless charging technology (WCT) uses conductive media such as electric fields, magnetic fields, microwaves or lasers to achieve wireless transmission of electrical energy. Due to its advantages such as no wire restrictions and no plugging and unplugging, it is currently being used more and more widely in electronic devices.

[0003] Currently, an increasing number of electronic devices are using transmitters for wireless charging. For example, electronic devices can charge mobile phones, wearable devices, and the like. Such electronic devices can also be referred to as receivers. Both transmitters and receivers include coils to enable wireless charging. The coil included in the receiver can be referred to as the receiver coil, and the coil included in the transmitter can be referred to as the transmitter coil. Wireless energy transmission between the transmitter and receiver coils can be achieved through electromagnetic coupling. However, during wireless charging, the centers of the transmitter and receiver coils must coincide (within a certain error range), which is considered "aligned" and ensures high charging efficiency. If the centers of the transmitter and receiver coils deviate significantly (this situation can be called "offset"), wireless charging may not be possible or charging efficiency may be low. Center alignment means that the line connecting the centers of the two coils is perpendicular or nearly perpendicular to the plane of either coil.

[0004] At present, the receiving coil positions of different receiving devices are different. In order to better realize the wireless charging function of the receiving device, the transmitting coil and the receiving coil can be automatically aligned, that is, the centers of the transmitting coil and the receiving coil can be controlled to coincide, thereby improving charging efficiency. Summary of the Invention

[0005] This application provides a device movement method and a transmitter device. By moving a receiving device in a first direction and a transmitting coil in a second direction, the centers of the transmitting coil and the receiving coil are aligned. This improves the efficiency of charging the receiving device from the transmitting device, reduces heat generation in the receiving device, and prolongs the duration of high-power wireless charging.

[0006] In a first aspect, the present application provides a device moving method, which is applicable to a wireless charging system including a transmitting device and a receiving device, wherein the transmitting device includes a transmitting coil, and the receiving device includes a receiving coil. When the wireless charging system is working, the method includes: the transmitting device moves the receiving device along a first direction, and, in the process of moving the receiving device, determines a first parameter according to a first frequency; moves the receiving device to a first position; wherein the first position is the position of the receiving device corresponding to when the first parameter is maximum during the process of moving the receiving device; and the transmitting device moves the transmitting coil along a second direction perpendicular to the first direction, and, in the process of moving the transmitting coil, determines the first parameter according to a second frequency; moves the transmitting coil to a second position; wherein the second position is the position of the transmitting coil corresponding to when the first parameter is maximum during the process of moving the transmitting coil.

[0007] In the above embodiment, the first direction can be horizontal, and the second direction can be vertical, or the first direction can be vertical, and the second direction can be horizontal. When the receiving device is moved horizontally and the transmitting coil is moved vertically, an example of the first position can be target position 1 in the following embodiment, and a first example of the second position can be target position 2 in the following embodiment. The first parameter can be the Q value discussed in the following embodiment. The closer the two coils are, the better the overlap, and the larger the first parameter. The farther the two coils are apart, the smaller the first parameter.

[0008] The transmitter device can move the receiver device and the transmitter coil separately to achieve alignment, detect the value of the first parameter, determine the alignment of the transmitter coil and the receiver coil, and stop the alignment when the first parameter is at a maximum, so that the centers of the transmitter coil and the receiver coil coincide. This can improve the efficiency of the transmitter device charging the receiver device, reduce heat generation in the receiver device, and extend the duration of high-power wireless charging.

[0009] In combination with the first aspect, in some embodiments, the method further includes: when the transmitting-end device moves the receiving-end device along the first direction until a first condition is satisfied, the transmitting-end device stops moving the receiving-end device along the first direction, and then moves the receiving-end device in the opposite direction of the first direction to the first position; wherein, the first condition includes: in the process of the transmitting-end device moving the receiving-end device, the detected first parameter continuously increases in the process of the receiving-end device being moved along the first direction to the first position, and decreases R times in a row in the process of the receiving-end device continuing to move along the first direction after passing the first position; wherein , where R is an integer greater than or equal to 1; when the transmitting device moves the transmitting coil along the second direction until a second condition is satisfied, the transmitting device stops moving the transmitting coil along the second direction, and then moves the transmitting coil in a direction opposite to the second direction to a second position; wherein the second condition includes: during the process of the transmitting device moving the transmitting coil, the detected first parameter continuously increases while the transmitting coil is moved along the second direction to the second position, and decreases M times in succession while the transmitting coil continues to move along the second direction after passing the second position, where M is an integer greater than or equal to 1.

[0010] In the above embodiment, when the receiving device is moved, if it is detected that the first parameter increases continuously and then decreases R times in a row, the position where the magnitude of the first parameter changes is the first position. Controlling the receiving device to move in the opposite direction to the first position achieves alignment in the first direction. When the transmitting coil is moved, if it is detected that the first parameter increases continuously and then decreases M times in a row, the position where the magnitude of the first parameter changes is the second position. Controlling the receiving device to move in the opposite direction to the second position achieves alignment in the second direction. This process is achieved by detecting the first parameter while moving the receiving device or the transmitting coil, and is simple to implement.

[0011] In combination with the first aspect, in some embodiments, the method further includes: before the transmitting device moves the receiving device along the first direction, the transmitting device charges the receiving device with a first power; after the transmitting device moves the transmitting coil to the second position, the transmitting device charges the receiving device with a second power; wherein the second power is greater than the first power.

[0012] In the above embodiment, an exemplary description of the first power can be power A in the following embodiment, and an exemplary description of the second power can be power B in the following embodiment. Before alignment, since the transmitting coil and the receiving coil are far apart, wireless charging is performed using a lower power (the first power) before alignment, so that the receiving device can be charged without causing the receiving device to heat up due to the alignment difference. After alignment is completed, wireless charging can be performed using a higher power, improving the efficiency of the transmitting device charging the receiving device.

[0013] In combination with the first aspect, in some embodiments, before the transmitting device moves the receiving device along the first direction, the method also includes: if the detected first parameter becomes smaller for R consecutive times during the process of the transmitting device moving the receiving device in the opposite direction of the first direction, it is determined that the transmitting device is moving the receiving device along the first direction.

[0014] In the above embodiment, when the receiving device is moved, before detecting that the first parameter continuously increases, it can also be detected that the first parameter continuously decreases R times. At this time, the receiving device can be moved in the opposite direction so that the transmitting device can determine the first position.

[0015] In combination with the first aspect, in some embodiments, the transmitting end device also includes a first clamping arm and a second clamping arm; the first frequency is that the transmitting end device determines the first parameter once every first time, and the first time is the time for the transmitting end device to move the clamping arm E times; moving the receiving end device along the first direction specifically includes: the transmitting end device pushes the receiving end device to move along the first direction through the first clamping arm; when the receiving end device is moved to meet the first condition, the transmitting end device controls the receiving end device to move in the opposite direction of the first direction to the first position, specifically includes: when the transmitting end device moves the receiving end device based on the first clamping arm to meet the first condition, the transmitting end device makes the two clamping arms in a state of clamping the receiving end device; the two clamping arms include the first clamping arm and the second clamping arm; the transmitting end device pushes the receiving end device to move E times R times in the opposite direction of the first direction to the first position based on the second clamping arm.

[0016] In the above embodiment, an exemplary description of the first frequency can be the preset frequency 1 involved in the embodiment. After detecting that the first parameter increases continuously and then decreases R times, the location where the magnitude of the first parameter changes is the first position. This is because the first frequency is to move the clamping arm E times, and then detect the first parameter once. Therefore, moving the receiving device in the opposite direction of the first direction E × R times can return to the first position. Here, "×" means "multiplied." This process is simple, relying on the relationship between the first frequency and R, and does not involve complex calculations.

[0017] In combination with the first aspect, in some embodiments, before moving the receiving device along the first direction, the method also includes: the transmitting device moves the two arms toward the transmitting coil at a first rate, and determines the first parameter according to the first frequency; in the process of moving the two arms, if the transmitting device determines that the first parameter is the same for T consecutive times, moves the two arms toward the transmitting coil at a second rate, and determines the first parameter according to a third frequency; wherein the third rate is less than the first rate; the second frequency is less than the third frequency; and T is an integer greater than or equal to 1.

[0018] In the above embodiment, an exemplary description of the second frequency can be the preset frequency 2 involved in the embodiment. An exemplary description of the first rate can be the rate A involved in the embodiment, and an exemplary description of the second rate can be the rate B involved in the embodiment. Here, in the case where both clamping arms are initially far away from the receiving end device, moving the two clamping arms will not cause the movement of the receiving end device, and the movement of the clamping arms can be accelerated so that the clamping arms can quickly contact the receiving end device. This allows the clamping arms to contact the receiving end device faster, reducing the alignment time along the first direction. Moreover, in the process of accelerating the movement of the clamping arms, the detection frequency of the first parameter can be reduced, saving computing resources.

[0019] In combination with the first aspect, in some embodiments, before moving the receiving device along the first direction, the method also includes: when the transmitting device determines that at least one of the two arms contacts the receiving device and the detected first parameter is the same for U consecutive times, determining to move the receiving device along the first direction; U is an integer greater than or equal to 1.

[0020] In combination with the first aspect, in some embodiments, the transmitting end device also includes a motor corresponding to the first clamp arm, and a motor corresponding to the second clamp arm, and the first clamp arm moves once the motor corresponding to the first clamp arm rotates once, and the second clamp arm moves once the motor corresponding to the second clamp arm rotates once; the transmitting end device moves the receiving end device based on the first clamp arm to meet the first condition, and the method also includes: when the transmitting end device determines that the motors corresponding to the two clamp arms are both stalled, the transmitting end device determines that the two clamp arms are in a state of clamping the receiving end device; when the transmitting end device determines that the motors corresponding to the two clamp arms are not both stalled, the motor corresponding to the two clamp arms is controlled to stop rotating the motor with a larger current and continue rotating the motor with a smaller current so that the clamp arm corresponding to the motor with a smaller current contacts the receiving end device, so that the two clamp arms are in a state of clamping the receiving end device.

[0021] In the above embodiment, the movement of the clamping arm is controlled by a motor, which is relatively inexpensive to manufacture and easy to control. This makes the method easier to implement and does not significantly increase the manufacturing cost of the transmitter device. In some possible scenarios, the motor is a stepper motor. The motor's operating principle involves inputting a pulsed square wave into the motor, with each cycle consisting of either a low level or a high level. The motor rotates when the level is high and is unable to rotate when the level is low.

[0022] In combination with the first aspect, in some embodiments, the transmitting end device pushes the receiving end device to move E times R times in the opposite direction of the first direction to the first position based on the second clamping arm, specifically including: when the two clamping arms are in a state of clamping the receiving end device, the motor with a larger initial current among the motors corresponding to the two clamping arms is rotated in the opposite direction E times R times, and at the same time, the transmitting end device rotates the motor with a smaller initial current among the motors corresponding to the two clamping arms E times R times, so that the clamping arm corresponding to the motor with a smaller initial current pushes the receiving end device to move E times R times in the opposite direction of the first direction to the first position; the initial current of the motor includes the current of the motor obtained when the receiving end device is moved to meet the first condition; wherein, the clamping arm corresponding to the motor with a smaller initial current is the second clamping arm; the clamping arm corresponding to the motor with a larger initial current is the first clamping arm.

[0023] In the above embodiment, the receiving end device can be returned to the first position by rotating the motor in the reverse direction E times R. The control method is simple, is completed through hardware control, and has high accuracy.

[0024] In combination with the first aspect, in some embodiments, before moving the transmitting coil along the second direction, the method further includes: if the detected first parameter decreases M times consecutively during the process of the transmitting device moving the transmitting coil in the opposite direction of the second direction, then it is determined that the transmitting device is moving the transmitting coil along the second direction.

[0025] In the above embodiment, when the transmitting end coil is moved, before detecting that the first parameter continuously increases, it can also be detected that the first parameter continuously decreases M times. At this time, the transmitting end coil can be moved in the opposite direction, so that the transmitting end device can determine the second position.

[0026] In combination with the first aspect, in some embodiments, the transmitting end device further includes a motor corresponding to the transmitting end coil, and the transmitting end coil moves once when the motor corresponding to the transmitting end coil rotates once; the second frequency determines the first parameter once every second time, and the second time is the time for the transmitting end device to move the transmitting end coil G times; the transmitting end device controls the transmitting end coil to move to the second position in the opposite direction of the second direction, specifically including: the transmitting end device rotates the motor corresponding to the transmitting end coil in the opposite direction G times M times, and controls the transmitting end coil to move to the second position in the opposite direction of the second direction.

[0027] In the above embodiment, the movement of the transmitter device is controlled by a motor, which is relatively inexpensive and easy to control. This makes the method easier to implement and does not significantly increase the cost of the transmitter device. The transmitter coil can be returned to the second position by rotating the motor in the opposite direction G times R times. The control method is simple, implemented through hardware control, and highly accurate.

[0028] In combination with the first aspect, in some embodiments, the first parameter is a quality factor Q, which is used to measure the charging efficiency of the transmitting device. The higher the charging efficiency, the larger the first parameter.

[0029] In a second aspect, an embodiment of the present application provides a transmitting end device, which includes two clamping arms and a transmitting end coil, wherein: the two clamping arms can be telescopically moved along a first direction; when the transmitting end device moves the receiving end device along the first direction through the two clamping arms until a first condition is met, the transmitting end device stops moving the receiving end device along the first direction, and then moves the receiving end device in the opposite direction of the first direction to the first position; wherein the first condition includes: in the process of the transmitting end device moving the receiving end device, the detected first parameter continuously increases in the process of the receiving end device being moved along the first direction to the first position, and the receiving end device continues to move along the first direction after passing the first position. The first parameter detected in the embodiment of the present invention decreases R times continuously during the process; wherein R is an integer greater than or equal to 1; the transmitting coil can be moved along a second direction perpendicular to the first direction; when the transmitting device moves the transmitting coil along the second direction until a second condition is satisfied, the transmitting device stops moving the transmitting coil along the second direction, and then moves the transmitting coil in the opposite direction of the second direction to a second position; wherein the second condition includes: during the process of the transmitting device moving the transmitting coil, the detected first parameter continuously increases during the process of the transmitting coil being moved along the second direction to the second position, and decreases M times continuously during the process of the transmitting coil continuing to move along the second direction after passing the second position, where M is an integer greater than or equal to 1.

[0030] In the above embodiment, the transmitting device can move the receiving device and the transmitting coil separately to achieve alignment, detect the value of the first parameter, determine the alignment of the transmitting and receiving coils, and stop alignment when the first parameter is at its maximum, so that the centers of the transmitting and receiving coils coincide. This can improve the efficiency of the transmitting device charging the receiving device, reduce heat generation in the receiving device, and extend the duration of high-power wireless charging. When the receiving device is moved, if it is detected that the first parameter increases continuously and then decreases R times, the position where the magnitude of the first parameter turns is the first position. Controlling the receiving device to move in the opposite direction to the first position achieves alignment in the first direction. When the transmitting coil is moved, if it is detected that the first parameter increases continuously and then decreases M times, the position where the magnitude of the first parameter turns is the second position. Controlling the receiving device to move in the opposite direction to the second position achieves alignment in the second direction. This process is achieved by detecting the first parameter while moving the receiving device or the transmitting coil, and is simple to implement.

[0031] In a third aspect, an embodiment of the present application provides a transmitting end device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the transmitting end device to execute the method described in the first aspect or any one of the embodiments of the first aspect.

[0032] In the above embodiment, the transmitting device can move the receiving device and the transmitting coil separately to achieve alignment, detect the value of the first parameter, determine the alignment of the transmitting and receiving coils, and stop alignment when the first parameter is at a maximum, so that the centers of the transmitting and receiving coils coincide. This can improve the efficiency of the transmitting device charging the receiving device, reduce heat generation in the receiving device, and extend the duration of high-power wireless charging.

[0033] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes executable instructions, which, when executed by a processor, enable the processor to execute the method described in the first aspect or any one of the embodiments of the first aspect.

[0034] In the above embodiment, the transmitting device can move the receiving device and the transmitting coil separately to achieve alignment, detect the value of the first parameter, determine the alignment of the transmitting and receiving coils, and stop alignment when the first parameter is at a maximum, so that the centers of the transmitting and receiving coils coincide. This can improve the efficiency of the transmitting device charging the receiving device, reduce heat generation in the receiving device, and extend the duration of high-power wireless charging.

[0035] In the fifth aspect, an embodiment of the present application provides a chip system, which is applied to a terminal, and the chip system includes one or more processors, which are used to call computer instructions to enable the terminal to execute the method for processing audio and video orientation as described in the first aspect or any one of the embodiments of the first aspect.

[0036] In a sixth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a terminal, enables the terminal to execute the method described in the first aspect or any one of the implementations of the first aspect.

[0037] Among them, the intended effects of the second to sixth aspects can be referred to the above description of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a transmitting end device in a solution is shown;

[0039] Figure 2 A schematic diagram of a transmitting device in the implementation of this application is shown;

[0040] Figure 3 shows a schematic diagram of a mobile receiving terminal device;

[0041] Figure 4 shows a schematic diagram of a mobile transmitting end coil;

[0042] Figure 5 An exemplary flow chart of wireless charging between a transmitting device and a receiving device is shown;

[0043] Figure 6 An example diagram showing a reference coordinate system and position information;

[0044] Figure 7 It shows several exemplary initial state diagrams of the receiving end device being placed on the transmitting end device;

[0045] Figure 8 An exemplary flow chart showing the horizontal alignment of the transmitting end device according to the preset rule 1 is shown;

[0046] Figure 9A as well as Figure 9B A schematic diagram showing the completion of horizontal alignment in state A is shown;

[0047] Figure 10A as well as Figure 10B A schematic diagram showing the completion of horizontal alignment in state B is shown;

[0048] Figure 11A as well as Figure 11BA schematic diagram showing the completion of horizontal alignment in state C is shown;

[0049] Figure 12 An exemplary flow chart showing the vertical alignment of the transmitting end device according to the preset rule 2 is shown;

[0050] Figure 13 A schematic diagram of a mobile transmitting end coil is shown;

[0051] Figure 14 This is a schematic diagram of the structure of the transmitting end device provided in an embodiment of the present application;

[0052] Figure 15 It is a schematic diagram of a receiving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The terms used in the following examples of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in the specification and appended claims of the present application, the singular expressions "a," "an," "said," "above," "the," and "this" are intended to include plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present application refers to and encompasses any or all possible combinations of one or more of the listed items.

[0054] Figure 1 A schematic diagram of a transmitting end device in a solution is shown.

[0055] In this scheme, if Figure 1 As shown in (1), the position of the charging coil of the transmitting device (such as coil 101) is fixed, and the transmitting device cannot change the position of the receiving device, so automatic alignment cannot be achieved. The charging coils (receiving coils) of different receiving devices are in different positions, making it difficult to adapt the transmitting device. A schematic diagram of a receiving device and a transmitting device with misaligned charging coils can be referenced. Figure 1 As shown in (2), the centers of the charging coil (eg, coil 102) in the receiving device and the charging coil (eg, coil 101) in the transmitting device do not coincide, and thus alignment is not achieved.

[0056] For example, as the position and size of the receiving device's camera change, the position of the receiving coil can vary. When the receiving device is placed on the transmitting device, the transmitting device cannot automatically align itself, making it difficult to ensure proper alignment between the receiving coil and coil 101 during charging. Specifically, during charging, the centers of the receiving coil and coil 101 may not coincide, resulting in low charging efficiency. This low charging efficiency stems from the fact that when the transmitting coil and the receiving coil (e.g., coil 101) are misaligned (offset), the receiving coil cannot efficiently receive the energy output by the transmitting coil for charging, resulting in low charging efficiency. In the event of offset, other metal objects (e.g., metal brackets) carried by the receiving device will also generate heat due to eddy current effects. Due to temperature control protection, the high-power wireless charging time will be reduced. Offset also weakens foreign object detection capabilities. To prevent false triggering of charging alarms in the event of offset, the foreign object detection threshold is relaxed, weakening the ability to detect foreign objects. A foreign object can be understood as any metal object placed on the transmitting device other than the receiving device.

[0057] An embodiment of the present application provides a transmitting end device and a device movement method. In this method, the transmitting end device can control the horizontal movement of the receiving end device to achieve horizontal alignment, and control the vertical movement of the transmitting end coil (the charging coil in the transmitting end device) to achieve vertical alignment. When both the horizontal and vertical alignments are completed, it means that the transmitting end coil and the receiving end coil (the charging coil in the receiving end device) are aligned, that is, the centers of the transmitting end coil and the receiving end coil coincide. The center coincidence involved here includes making the center line of the two coils perpendicular or nearly perpendicular to any coil.

[0058] In some scenarios, the transmitting device involved in the embodiments of the present application can be called a wireless charging transmitting device; the receiving device involved in the embodiments of the present application can be called a wireless charging receiving device.

[0059] It should be understood that aligning the centers of the two coils (the transmitting coil and the receiving coil) can also be described as minimizing the distance between the centers of the two coils, i.e., bringing the two coils closest together. This "closeness" includes both horizontal and vertical proximity.

[0060] In some possible scenarios, after the receiving device is placed on the transmitting device, the transmitting device can first control the receiving device to move horizontally within the device support base, stopping movement when the receiving coil is closest to the transmitting coil in the horizontal direction. At this point, horizontal alignment is complete, with the vertical axis of the receiving coil aligning with the vertical axis of the transmitting coil. The transmitting device can then control the transmitting coil to move vertically, stopping movement when the transmitting coil is closest to the receiving coil in the vertical direction. At this point, the centers of the two coils coincide, and alignment is complete.

[0061] In other possible scenarios, after the receiving device is placed on the transmitting device, the transmitting device can first control the transmitting coil to move vertically, and stop moving when the transmitting coil is closest to the receiving coil in the vertical direction. At this point, vertical alignment is complete, and the horizontal center axis of the receiving coil coincides with the horizontal center axis of the transmitting coil. The transmitting device can then control the receiving device to move horizontally within the device support base, and stop moving when the receiving coil is closest to the transmitting coil in the horizontal direction. At this point, vertical alignment is complete, and the centers of the two coils coincide, completing the alignment.

[0062] It should be understood that the aforementioned coincidence of the two central axes refers to the coincidence of the projections of the two central axes on the receiving device, in which case the distance between the two central axes is the shortest. The two central axes may include the horizontal central axis of the receiving coil and the horizontal central axis of the transmitting coil, or the vertical central axis of the receiving coil and the vertical central axis of the transmitting coil.

[0063] It should be understood that horizontal may include parallel to a horizontal central axis, and vertical may include parallel to a vertical central axis.

[0064] In the foregoing, the method by which the transmitting device determines that the receiving coil is closest to the transmitting coil in the horizontal direction includes: during horizontal movement of the receiving device, the transmitting device performs Q-value detection at a preset frequency of 1. The position of the transmitting coil remains unchanged, while the position of the receiving coil changes as the receiving device moves. When the detected Q-value is determined to be the maximum (maximum in the horizontal direction), the receiving device stops moving to complete horizontal alignment.

[0065] The transmitter device determines that the receiver coil is closest to the transmitter coil in the vertical direction by performing Q-value detection at a preset frequency of 3 during vertical movement of the transmitter coil. The receiver coil remains in a fixed position while the transmitter coil is moved. When the detected Q-value is determined to be the largest (maximum in the vertical direction), movement of the transmitter coil is stopped to complete vertical alignment.

[0066] The Q value is the quality factor of the coil. The larger the Q value, the closer the centers of the two coils are, and the higher the charging efficiency. The smaller the Q value, the farther the centers of the two coils are, and the lower the charging efficiency.

[0067] The Q value is monotonically related to the relative position of the two coils (the transmitting coil and the receiving coil). When the two coils are close together, the Q value increases, and when the two coils are farther apart, the Q value decreases. The Q value can be expressed as the ratio of the energy used by the coil for charging (e.g., electromagnetic energy) to the energy consumed by the coil. This consumed energy can include magnetic loss, line loss, etc. The consumed energy cannot be received by the receiving coil and cannot be used for charging. The Q value can be calculated by referring to the following formula.

[0068]

[0069] In this formula, L tx is the inductance of the transmitting coil, R tx is the AC impedance of the transmitting coil, w tx is the resonant angular frequency of the resonant network of the transmitting device.

[0070] Based on the above description, it can be understood that the transmitter device can first move the receiver device horizontally, and then move the transmitter coil vertically to complete the alignment. Alternatively, the transmitter coil can be moved vertically first, and then the receiver device can be moved horizontally to complete the alignment. This embodiment of the application does not limit the order in which the receiver device and the transmitter coil are moved.

[0071] In order to achieve fast alignment, the receiving device and the transmitting coil may not be moved at the same time, because it is impossible to determine whether the change in the Q value is caused by moving the receiving device or the transmitting coil.

[0072] The following is an exemplary introduction to the transmitting end device involved in the embodiments of the present application.

[0073] Figure 2 A schematic diagram of a transmitting end device in the implementation of this application is shown.

[0074] like Figure 2 (1) shows the side of the transmitter device. Figure 2 (2) shows the front of the transmitter. Figure 2 (2) introduces the transmitter equipment.

[0075] like Figure 2 (1) and Figure 2As shown in (2), the transmitting end device may include a charging coil (i.e., a transmitting end coil), a device support base, and two alignment clamping arms. For example, coil 201 can be regarded as an exemplary display of the transmitting end coil; base 204 can be regarded as an exemplary display of the device support base; clamping arm 203a and clamping arm 203b can be regarded as an exemplary display of two alignment clamping arms. In some possible cases, the maximum visible length of the two alignment clamping arms is the same, for example, it can be L10 shown. The maximum visible length of the two clamping arms can be 0.5cm-2cm, for example, 1cm, and can also be other values in actual applications, which is not limited in the embodiments of the present application.

[0076] The vertical central axis of the transmitter coil is a line passing through the center of the transmitter coil and perpendicular to the device support base. For example, central axis 202a can be considered an exemplary illustration of a vertical central axis. The horizontal central axis of the transmitter coil is a line passing through the center of the transmitter coil and parallel to the device support base. For example, central axis 202b can be considered an exemplary illustration of a horizontal central axis of the transmitter coil.

[0077] For the convenience of description, the alignment clamping arm may be referred to as the clamping arm hereinafter.

[0078] The device support base can be used to support the receiving device so that the receiving device can be placed on the transmitting device for charging.

[0079] The two alignment clamps can be used to horizontally move the receiving device so that the position of the receiving device on the device support base can be changed, so that the relative position of the receiving coil and the transmitting coil can be changed. Figure 3 The description of is not repeated here.

[0080] The transmitting coil can be used to transmit energy (e.g., electromagnetic energy) to the coil of the receiving device (i.e., the receiving coil), so that the receiving device can receive the electromagnetic energy through the receiving coil, rectify and filter it, and then input it into the battery. The transmitting coil can be moved in the vertical direction. For an exemplary description of moving the transmitting coil, please refer to the following description. Figure 4 The description of is not repeated here.

[0081] The following is an exemplary introduction to the process of moving the receiving end device.

[0082] Figure 3 A schematic diagram of a mobile receiving terminal device is shown.

[0083] The transmitting device can control the movement of the clamping arm through the motor, so that the clamping arm can move the receiving device. The structure and movement of one clamping arm are described below. The structure and movement of the other clamping arm are the same and will not be repeated here.

[0084] like Figure 3 As shown in (1), the clamping arm 203a includes a tooth row 1 (e.g., tooth row 301), which contacts a motor (e.g., motor 302) corresponding to the clamping arm 203a. The motor corresponding to the clamping arm can rotate to drive the tooth row 1 to move, thereby moving the clamping arm. After the clamping arm moves, it can approach the receiving end device or push the receiving end device to move the receiving end device.

[0085] The motor corresponding to the clamp arm can rotate in one direction (for example, counterclockwise or clockwise) to make the clamp arm move in the positive direction. If the motor changes the direction of rotation (i.e., reverse rotation), the clamp arm can also change its movement direction. Figure 3 As shown in (2), in some possible cases, the positive direction movement includes moving in the horizontal direction toward the transmitting end coil.

[0086] Moving a clamp arm in the positive direction can cause the clamp arm to retract, and the retracted clamp arm can shorten the visible length of the clamp arm. Moving a clamp arm in the negative direction can cause the clamp arm to expand, and the expanded clamp arm can lengthen the visible length of the clamp arm. Figure 3 As shown in (2), the visible length of the clamp arm 203a is L11, and the visible length of the clamp arm 203b is L21. After the clamp arm 203a is moved in the reverse direction and the clamp arm 203b is moved in the forward direction, the visible length of the clamp arm 203a becomes longer and the visible length of the clamp arm 203b becomes shorter. Figure 3 As shown in (3), the visible length of the clamp arm 203a becomes L12 (greater than L11), and the visible length of the clamp arm 203b becomes L22 (less than L21). In some possible cases, the reverse direction movement includes: moving in the horizontal direction away from the transmitting end coil.

[0087] The speed at which the clamp arm moves is affected by the rotation speed of the motor: the speed at which the clamp arm moves is proportional to the rotation speed of the motor. The faster the motor rotates, the faster the clamp arm moves, and the slower the motor rotates, the slower the clamp arm moves.

[0088] It should be understood that, in some possible cases, the rotation speeds of the motors corresponding to the two clamping arms may be the same, and the speeds at which the two clamping arms move are the same. Moreover, the moving speed of the terminal is the same as the moving speed of the clamping arm. When the clamping arm moves and pushes the receiving end device, the current of the motor corresponding to the clamping arm will increase but be less than the preset current, and the degree of increase will be greater than the change threshold 1. When the clamping arm moves but does not push the receiving end device, the current of the motor corresponding to the clamping arm may not change and be less than the preset current, or the degree is less than the change threshold 2 and less than the preset current. Among them, the change threshold 1 is greater than the change threshold 2. When the motor is rotated for the i-th time, the degree of change in the motor current includes the change in the current when the motor is rotated for the i-th time compared to the current when the motor is rotated for the i-1th time. Therefore, when there is a clamping arm that pushes the receiving end device to move, the current of the motor corresponding to the clamping arm is greater than the current of the motor corresponding to the other clamping arm.

[0089] It should also be understood that if the motor corresponding to the clamping arm is stalled, it means that the corresponding clamping arm cannot be moved by rotating the motor without changing the direction of rotation. A stalled motor refers to a state where the motor has stopped rotating in one direction. After changing the direction of rotation, the motor can continue to rotate. When the motor is stalled, the current corresponding to the motor is much greater than the current when the motor is not stalled. The current of the motor when stalled can exceed a preset current. For example, the preset current can typically be 5-7 times the rated current.

[0090] It should be understood that the schematic diagrams of the receiving device shown in the embodiments of the present application are merely illustrative, and other shapes are possible. For example, the shape of the clamping arm and its position within the receiving device are merely illustrative, and the clamping arm may also have other shapes and may be closer to or further away from the device support base than shown.

[0091] The following is an exemplary introduction to the process of moving the transmitting end coil.

[0092] Figure 4 A schematic diagram of a mobile transmitting coil is shown.

[0093] The transmitting end device can control the movement of the transmitting end coil through the motor corresponding to the transmitting end coil.

[0094] In some possible cases, such as Figure 4 As shown in (1), the transmitting coil (401) is placed on a steel sheet (e.g., steel sheet 402), which includes a tooth row A (e.g., tooth row 403). The tooth row A is in contact with a motor (e.g., motor 404) corresponding to the transmitting coil. The motor corresponding to the transmitting coil can rotate to drive the tooth row A to move, thereby causing the steel sheet to move. The movement of the steel sheet is the same as the movement of the transmitting coil, that is, the movement of the steel sheet is the same as the movement of the transmitting coil.

[0095] like Figure 4 As shown in (1), the motor (motor 404) corresponding to the transmitting coil can rotate in one direction (e.g., counterclockwise or clockwise) to move the steel sheet (steel sheet 402) including the transmitting coil in the vertical direction (e.g., vertically downward). A schematic diagram after the movement can be shown as follows: Figure 4 As shown in (2), compared with Figure 4 In (1), the vertical height of the motor corresponding to the transmitting end coil remains unchanged, and the transmitting end coil and the steel sheet including the transmitting end coil move the same distance (both L31) and direction.

[0096] It should be understood that Figure 3 The control receiving device shown in FIG moves, and Figure 4 The method for controlling the movement of the transmitter coil shown in the figure is merely an example. In actual applications, other methods can be used to separately move the receiving device and the transmitter coil. For example, a rocker mechanism can be used to control the movement of the clamping arm, and a rocker mechanism can be used to control the movement of the transmitter coil.

[0097] Figure 5 An exemplary flow chart of wireless charging between a transmitting device and a receiving device is shown.

[0098] Regarding the process of wireless charging between the transmitting device and the receiving device, reference may be made to the following description of steps S101 to S108 .

[0099] S101. The transmitting device sends an energy signal (digital ping) at intervals. After receiving the digital ping, the receiving device sends a signal strength packet (signal strength). After the transmitting device detects the signal strength, it indicates that a connection has been established with the receiving device.

[0100] Step S101 is used to describe that the transmitting end device enters the identification and configuration stage.

[0101] For other related descriptions of the identification and configuration phase, please refer to the description of step S102 below. After the identification and configuration are completed, wireless charging can begin.

[0102] An exemplary manner in which the transmitting-end device detects the receiving-end device may include the following contents.

[0103] After the receiving device is turned on, it can periodically perform Q value detection. When the receiving device detects that the Q value change reaches a preset level, it determines that the receiving device or the metal foreign object has entered the magnetic field range of the transmitting device (or entered the pinging area). The signal strength received from the receiving device indicates that the receiving device has been detected. The pinging area includes an area where the receiving device can receive the energy signal (digital ping) emitted by the transmitting device. After the receiving device enters the pinging area, the transmitting device can trigger the process of establishing a connection with the receiving device. The pinging area can usually be set to include: an area that can be in contact with the transmitting device, or an area that is in contact with wireless charging but is less than a preset distance (for example, 0.5 cm, etc.) from the fully extended clamp. The pinging area can also be called a power transmittable area or a signal strength packet detectable area.

[0104] S102. After the transmitting device identifies the receiving device, it negotiates with it regarding charging parameters. These parameters include power A and power B. Power A is the initialization power used after charging begins; power B is the power used during charging after the transmitting device determines that the transmitting coil and the receiving coil are aligned. Power A is less than or equal to power B.

[0105] The receiving device sends its identity information to the transmitting device. This identity information can be used to identify the receiving device, for example, it can include the device ID corresponding to the receiving device. The transmitting device authenticates the receiving device based on this identity information. After authentication, it negotiates charging parameters with the receiving device. These parameters include power A and power B. Power A is the initialization power used after charging begins; power B is the power used during charging after the transmitting device determines that the transmitting coil and the receiving coil are aligned. Power A is less than or equal to power B.

[0106] S103. The transmitting device charges the receiving device with power A.

[0107] Before alignment is complete, the transmitter charges the receiver at a lower power (Power A). This allows the receiver to charge without overheating caused by large misalignment between the two coils. After alignment is complete, the receiver charges at a higher power (Power B) to improve charging efficiency.

[0108] In some possible cases, the transmitting device transmits electromagnetic energy with power A through the transmitting coil, and the receiving device receives part of the electromagnetic energy, rectifies and filters it, and then inputs it into the battery.

[0109] For details on how to align the transmitting device with the receiving device, please refer to the following description of steps S104 to S108.

[0110] S104: Whether the transmitting device detects the position information of the receiving coil.

[0111] When the transmitting-end device detects the position information of the receiving-end coil, the following step S105 may be executed to achieve alignment of the two coils (the transmitting-end coil and the receiving-end coil) based on the position information.

[0112] When the transmitting device fails to detect the position information of the receiving coil, the receiving device may be moved horizontally in step S106 to achieve horizontal alignment, and the transmitting coil may be moved vertically in step S107 to achieve vertical alignment.

[0113] S105. Based on the position information, the transmitting device moves the receiving coil to coincide with the center of the transmitting coil, thereby completing the alignment.

[0114] When the transmitting device detects the position information of the receiving coil, step S105 can be performed. This typically occurs when the receiving device can identify its relative position to the transmitting device. The position information sent by the receiving device to the transmitting device describes the position of the center of the receiving coil relative to the reference coordinate system.

[0115] Figure 6 An example diagram showing a reference coordinate system and position information.

[0116] like Figure 6 As shown, the reference coordinate system can take the center of the transmitting coil (e.g., coil 201) as the origin, for example Figure 6 The point O1(0,0) in the reference coordinate system can be regarded as the origin of the reference coordinate system. The horizontal center axis of the transmitting coil is the X-axis, and the vertical center axis of the transmitting coil is the Y-axis. The position information of the transmitting device is the position of the center of the receiving coil relative to the reference coordinate system. The position information can be expressed as the value of the distance from the X-axis and the value of the distance from the Y-axis, and the unit can be millimeters. For example, Figure 6 O2(x1, y1) shown in FIG. 5 may be the center of an exemplary receiving-end coil.

[0117] When x1 is a negative value, the transmitter controls the clamp arm to move the receiver horizontally by x1 mm along the positive half of the X-axis to achieve horizontal alignment. When x1 is a positive value, the transmitter controls the clamp arm to move the receiver horizontally by x1 mm along the negative half of the X-axis to achieve horizontal alignment. When y1 is a negative value, the transmitter controls the transmitter coil to move vertically by y1 mm along the negative half of the Y-axis to achieve horizontal alignment. When y1 is a positive value, the transmitter coil is moved vertically by y1 mm along the positive half of the Y-axis to achieve horizontal alignment.

[0118] It should be understood that Figure 6 The reference coordinate system shown is an exemplary description. In actual applications, the reference coordinate system may also be described in other ways, which should not constitute a limitation on the embodiments of the present application.

[0119] S106. The transmitting device moves the receiving device horizontally using two clamping arms according to preset rule 1, and performs Q value detection on the transmitting coil during the movement. Horizontal alignment is completed when the receiving device is moved horizontally to target position 1. The Q value corresponding to the transmitting coil at target position 1 is the largest in the horizontal direction.

[0120] The Q value is maximum in the horizontal direction, and reaches its maximum value during the horizontal movement of the receiving device.

[0121] Preset rule 1 includes but is not limited to one or more of the following rules:

[0122] Rule 11: After the clamping arms start to move, the Q value detected increases continuously. After the receiving device moves to position 1 and the Q value increases, if the Q value decreases R times in a row while the receiving device continues to move, the two clamping arms clamp the receiving device and return the receiving device to position 1. This position 1 is a target position 1. R is an integer greater than or equal to 1, usually 2. This rule 11 applies when the initial state of the receiving device placed on the transmitting device is state A. Figure 7 As shown in (1), state A includes: before the transmitting end device moves the clamp arm, there is at least one near-device clamp arm, and the vertical center axis of the receiving end coil is between the vertical center axis of the transmitting end coil and the near-device clamp arm. The near-device clamp arm includes the clamp arm that is closer to the receiving end device (less than or equal to a preset distance 1) among the two clamp arms. The preset distance 1 may include a motor corresponding to a clamp arm that moves T times, and the distance the clamp arm moves, where T is an integer greater than or equal to 1, typically 2. For a detailed description of rule 11, please refer to the following description of steps S20 to S22, which will not be repeated here.

[0123] Rule 12: After the clamping arms start to move, the receiving device moves, and if the detected Q value decreases R times in a row, the receiving device moves in the reverse direction. During the reverse movement of the receiving device, it is detected that the Q value increases continuously. After the receiving device moves to position 2 and the Q value increases, the receiving device continues to move. If the Q value decreases R times in a row, the two clamping arms clamp the receiving device, and the receiving device is moved in the reverse direction again to return the receiving device to position 2. Position 2 is a target position 1. Rule 12 applies when the initial state of the receiving device placed on the transmitting device is state B. Figure 7 As shown in (2), state B includes: before the transmitting device moves its clamping arm, at least one near-device clamping arm exists, and the vertical center axis of the receiving coil is not between the vertical center axis of the transmitting coil and the near-device clamping arm. A detailed description of rule 12 can be found in the following description of steps S30-S33, which will not be repeated here.

[0124] Rule 13: After the clamp arm begins moving (based on rate A1), if the receiving device does not move and the Q value is detected to be the same T times in a row, the transmitting device may increase the speed of the clamp arm movement, bringing the clamp arm closer to the receiving device more quickly and causing it to move. After confirming that the clamp arm is in contact with the receiving device, the clamp arm is moved again at rate A1. If the detected Q value continues to increase, horizontal alignment is continued according to Rule 11. If the detected Q value continues to decrease, horizontal alignment is continued according to Rule 12. If the detected Q value is the same for U consecutive times, both clamp arms are in contact with the receiving device, and moving the clamp arm will not cause the receiving device to move. However, at this point, it is not yet determined whether the two coils are horizontally aligned. In this case, the receiving device may be moved in the test direction. If the detected Q value continues to increase, horizontal alignment is continued according to Rule 11. If the detected Q value continues to decrease for R consecutive times, horizontal alignment is continued according to Rule 12. This Rule 13 applies when the receiving device is initially placed on the transmitting device in State C. State C includes: the distance between the two clamping arms and the receiving end device is greater than the preset distance 1. Figure 7 As shown in (3), at this time, the receiving device is relatively centered on the transmitting device. For a detailed description of rule 13, please refer to the description of steps S40 to S44b below, which will not be repeated here.

[0125] Rule 14: After starting to move the clamping arms, regardless of how the Q value changes, if the Q value remains the same for U consecutive times, it indicates that both clamping arms are in contact with the receiving device, and moving the clamping arms will not cause the receiving device to move. However, at this point, it is not certain whether the two coils are aligned horizontally. In this case, the receiving device can be moved in the test direction. If the detected Q value continues to increase, continue horizontal alignment according to Rule 11 above. If the detected Q value continues to decrease, continue horizontal alignment according to Rule 12 above.

[0126] The details of step S106 can be found in the following Figure 8 The description of the relevant content will not be repeated here.

[0127] S107. The transmitting device moves the transmitting coil in the vertical direction according to preset rule 2, and performs Q value detection on the transmitting coil during the movement. When the transmitting coil is vertically moved to target position 2, alignment is completed (both vertical and horizontal alignment are completed). The Q value corresponding to the transmitting coil at target position 2 is the largest in the vertical direction.

[0128] The Q value is maximum in the vertical direction, and reaches its maximum value during the vertical movement of the transmitting coil.

[0129] Preset rule 2 includes but is not limited to one or more of the following rules:

[0130] Rule 21: After the transmitter coil begins moving, if the detected Q value continues to increase, and after the transmitter coil moves to Position 2 and detects an increase in the Q value, and if the Q value decreases R times in a row after continued movement, the transmitter coil is moved in the opposite direction and returned to Position 2. This Position 2 is considered Target Position 2. A detailed description of Rule 21 can be found in the description of steps S202a through S203a below and is not repeated here.

[0131] Rule 22: After starting to move the transmitter coil, if the Q value is detected to decrease R times in a row, the transmitter coil is moved in the opposite direction. During the reverse movement of the transmitter coil, if the Q value is detected to increase continuously, and after the transmitter coil moves to Position 2 and the Q value is detected to increase, if the Q value decreases R times in a row after continuing to move the transmitter coil, the transmitter coil is moved in the opposite direction again, returning the transmitter coil to Position 2. This Position 2 is considered Target Position 2. A detailed description of Rule 22 can be found in the description of steps S202b-S204b below and is not repeated here.

[0132] It should be understood that in the embodiments of the present application, the number of consecutive R times the Q value decreases when moving the transmitting coil may not be consecutive R times, but may be M times, where M is an integer greater than or equal to 1 and may be the same as or different from R. This example uses M equal to R as an example for illustration.

[0133] The details of step S107 can be found in the following Figure 12 The description of the relevant content will not be repeated here.

[0134] S108. The transmitting device charges the receiving device at power B.

[0135] After confirming that the alignment is completed, the transmitting device charges the receiving device with a higher power (power B) to improve charging efficiency.

[0136] In some possible cases, the transmitting device adjusts the power of the electromagnetic energy transmitted by the transmitting coil from power A to power B. Then, the electromagnetic energy is transmitted at power B through the transmitting coil, and the receiving device receives part of the electromagnetic energy, rectifies and filters it, and then inputs it into the battery.

[0137] Figure 8 An exemplary flow chart of the transmitting end device implementing horizontal alignment according to preset rule 1 is shown.

[0138] For details on the horizontal alignment, please refer to the following descriptions of step S10, step S20 to step S22, step S30 to step S33, and step S40 to step S44b.

[0139] S10. The transmitting device moves its two clamping arms in a positive direction at a rate A1, such that the clamping arms approach the receiving device or move the receiving device in direction 1. After the clamping arms begin moving, Q value detection is performed at a preset frequency 1. The preset frequency 1 includes detecting the Q value once every preset time 1. The preset time 1 is the time it takes for the transmitting device to move the clamping arms E times. Moving the clamping arms in the positive direction includes moving the clamping arms in a direction pointing toward the central axis of the transmitting coil, where E is an integer greater than or equal to 1, typically 1. Moving the clamping arms in the positive direction can also be understood as continuing to move the clamping arms in the direction of their initial movement.

[0140] In some cases, if the movement of the clamp arm corresponds to the movement of the transmitter device, the preset time 1 can also be the time it takes for the transmitter device to move the receiver device E times. The preset frequency 1 can be understood as the Q value being detected once every E clamp arm movement. Since each motor rotation results in a corresponding movement of the clamp arm, the preset frequency 1 can also be understood as the Q value being detected once every E motor rotation. The first preset time can be calculated from the first movement of the clamp arm.

[0141] In some possible cases, refer to the above Figure 3 As shown in (1), the transmitting end device can rotate the motor corresponding to the clamp arm based on the speed A2 so that the clamp arm moves at the speed A1, thereby allowing the clamp arm to approach the receiving end device or move (horizontally move) the receiving end device. The speed of the clamp arm movement is affected by the rotation speed of the motor corresponding to the clamp arm: the speed of the clamp arm movement is proportional to the rotation speed of the motor. The faster the motor rotates, the faster the clamp arm moves, and the slower the motor rotates, the slower the clamp arm moves.

[0142] The transmitter moves the receiver horizontally using two clamping arms according to a preset rule 1 to achieve horizontal alignment. After the clamping arms begin moving, Q-value detection can be performed at a preset frequency 1. The preset frequency 1 includes a Q-value detection every preset time 1, where the transmitter moves the clamping arms E times. E is an integer greater than or equal to 1, typically 1.

[0143] The positive direction movement of the clamping arm includes: moving the clamping arm in a direction from the clamping arm to the central axis of the transmitting end coil. That is, the positive direction movement includes moving the clamping arm in a horizontal direction toward the transmitting end coil.

[0144] It should be understood here that, in some possible cases, when both clamping arms move in the positive direction, the directions in which the two clamping arms move are opposite.

[0145] It should be understood that when the initial state of the receiving device placed on the transmitting device is different, the Q value changes during the movement of the receiving device will be different, and the processing method of the transmitting device will be different. Among them, the following steps S20-step S22 describe the process of the transmitting device completing horizontal alignment through rule 11 when the initial state is the aforementioned state A. The following steps S30-step S33 describe the process of the transmitting device completing horizontal alignment through rule 12 when the initial state is the aforementioned state B. The following steps S40-step S44b describe the process of the transmitting device completing horizontal alignment through rule 13 when the initial state is the aforementioned state C.

[0146] Figure 9A as well as Figure 9B A schematic diagram showing the completion of horizontal alignment in state A is shown.

[0147] The following combination Figure 9A 、 Figure 9B And when the initial state in step S20-step S22 is the aforementioned state A, the transmitting end device completes the horizontal alignment process according to rule 11. State A includes: Figure 7As shown in (1), before the transmitting end device moves the clamping arm, there is at least one near-device clamping arm, and the vertical center axis of the receiving end coil is between the vertical center axis of the transmitting end coil and the near-device clamping arm.

[0148] S20. When the transmitting device determines that the Q value increases for W1 consecutive times, the receiving device continues to move along direction 1 at rate A1; W1 is an integer greater than or equal to 1.

[0149] The value of W1 is random and may be different in different situations.

[0150] The direction 1 is the direction in which the receiving device moves for the first time.

[0151] like Figure 9A As shown in (1), the minimum distance between the clamping arm 203a (near-device clamping arm) and the receiving-end device is less than or equal to the preset distance 1, and the vertical center axis of the receiving-end coil is between the vertical center axis of the transmitting-end coil and the near-device clamping arm. At this time, moving the clamping arm 203a in the positive direction of the rate A1 can push the receiving-end device so that the receiving-end device moves along direction 1, and the clamping arm 203b can be moved in the positive direction of the rate A1 so that the clamping arm 203b is close to the receiving-end device (distance S221 is less than distance S211). During the movement, the Q value is detected according to the preset frequency 1. Comparison Figure 9A (1) and Figure 9A In (2), during the movement, the vertical center axes of the two coils (transmitter coil and receiver coil) gradually approach each other, causing the detected Q value to increase for W1 consecutive times. Then, the receiving device continues to move along direction 1 at a rate of A1. Figure 9A As shown in (2), the clamping arm 203a is moved in the positive direction so that the movable clamping arm 203a continues to push the receiving end device to move along direction 1. In addition, the clamping arm 203b is moved in the positive direction so that the movable clamping arm 203b continues to approach the receiving end device.

[0152] S21. When the receiving device continues to move along direction 1, the transmitting device determines that the Q value decreases R times in a row, and then the two clamping arms clamp the receiving device.

[0153] contrast Figure 9A (2) and Figure 9A (3), or, contrast Figure 9A (2) and Figure 9A In (4), when the receiving device continues to move along direction 1, the vertical center axes of the two coils (transmitter coil and receiver coil) gradually move away from each other, making the detected Q value continuously smaller. Figure 9ATaking the position shown in (3) as an example, the transmitting end device determines that the Q value decreases for R consecutive times. Then the transmitting end device can make the two clamping arms be in a state of clamping the receiving end device.

[0154] The transmitting end device makes the two clamping arms clamp the receiving end device in the following manner: the wireless receiving end device first determines whether the motors corresponding to the two clamping arms are both stalled. If both are stalled, it can be determined that the two clamping arms have clamped the receiving end device. A schematic diagram of the two clamping arms clamping the receiving end device can be referred to Figure 9A The content shown in (4). Among them, the wireless receiving end device determines whether a motor is blocked by: determining whether the current of the motor is greater than the preset current. If it is greater than the preset current, the motor is blocked. If there is at least one clamping arm corresponding to the motor that is not blocked, then determine the relationship between the currents of the motors corresponding to the two clamping arms. Stop the motor with a large current so that the clamping arm corresponding to the motor stops moving, and then continue to rotate the motor with a small current so that the clamping arm corresponding to the motor continues to approach the receiving end device. During the movement process, continue to determine whether the motors corresponding to the two clamping arms are both blocked, until it is determined that the motors corresponding to the two clamping arms are both blocked, and determine that the two clamping arms have clamped the receiving end device. Among them, if the motor corresponding to one clamping arm is not blocked, it means that there is a clamping arm that is not in contact with the receiving end device. This situation can be referred to. Figure 9A The content shown in (3). Figure 9A As shown in (3), since the clamp arm 203a pushes the receiving end device to do work, the motor current corresponding to the clamp arm 203a can be larger (compared to the motor corresponding to the clamp arm 203b). At this time, the receiving end device controls the motor corresponding to the clamp arm 203a to stop rotating so that the clamp arm 203a and the receiving end device both stop moving, and controls the motor corresponding to the clamp arm 203b to continue rotating so that the clamp arm 203b contacts the receiving end device. A schematic diagram after the two clamp arms clamp the receiving end device can be referred to Figure 9A Chinese (4).

[0155] S22. The transmitting device controls the two clamping arms to move the receiving device E×R times along direction 2 (opposite to direction 1) at rate A1 and return to the position where the Q value is the largest in the horizontal direction (target position 1).

[0156] After the two clamping arms clamp the receiving device, the transmitting device can control the two clamping arms to move the receiving device in the opposite direction E×R times (i.e., rotate the motor corresponding to the clamping arms E×R times) so that the transmitting device can return to the position where the Q value is the largest in the horizontal direction (target position 1).

[0157] The reason for moving E × R times is that before the first movement to position 1, the transmitter device can determine that the Q value is increasing. When the clamping arm continues to move to position 1, the Q value decreases R times. Therefore, position 1 can be determined to be target position 1. Since the clamping arm (or motor) detects the Q value once after moving E times, and the Q value decreases R times in a row, the transmitter device can return to target position 1 by moving in the opposite direction E × R times. Here, the reverse direction refers to the reverse direction 2, which is opposite to direction 1.

[0158] The process of moving the receiving end device in the reverse direction to the target position 1 includes: rotating the motor with the smaller initial current among the motors corresponding to the two clamping arms, so as to move the clamping arm corresponding to the motor with the smaller initial current in the positive direction at a rate A1. At the same time, reversely rotate the motor with the larger initial current among the motors corresponding to the two clamping arms, so as to move the clamping arm corresponding to the motor with the larger initial current in the reverse direction at a rate A1, and stop moving the clamping arms after moving E×R times, so that the two clamping arms move the receiving end device in direction 2 (opposite to direction 1) to the target position 1. Here, the clamping arm corresponding to the motor with the smaller initial current can be referred to as the first clamping arm, and the clamping arm with the larger initial current can be referred to as the second clamping arm. The process of moving the receiving end device in the reverse direction to the target position 1 is equivalent to pushing the receiving end device based on the second clamping arm. The initial current of the motor includes the current corresponding to the motor obtained when the receiving end device is moved to a point where the Q value first increases continuously and then decreases continuously for Q times.

[0159] like Figure 9A As shown in (4), the transmitting end device can move the clamping arm 203a in the reverse direction, and move the clamping arm 203b in the positive direction to push the receiving end device to move to the target position 1 along direction 2, completing the horizontal alignment. An exemplary content after completing the horizontal alignment can be referred to Figure 9B As shown in (1), at this time, the vertical center axes of the two coils coincide.

[0160] In some possible cases, after completing the horizontal alignment, the transmitting end device can unfold the clamping arm so that the receiving end device is not clamped by the clamping arm, making it easier to pick up the receiving end device. Figure 9B (1) and Figure 9B As shown in (2), the transmitting end device can move the clamping arm 203a in the opposite direction and the clamping arm 203b in the opposite direction, so that the clamping arm can be unfolded. A schematic diagram after the clamping arm is unfolded can be referred to Figure 9B The content shown in (2).

[0161] Figure 10A as well as Figure 10B A schematic diagram showing the completion of horizontal alignment in state B is shown.

[0162] The following combination Figure 10A 、 Figure 10BAnd when the initial state in step S30-step S33 is the aforementioned state B, the transmitting end device completes the horizontal alignment process according to rule 12. State B includes: Figure 7 As shown in (2), before the transmitting end device moves the clamping arm, there is at least one near-device clamping arm, and the vertical center axis of the receiving end coil is not between the vertical center axis of the transmitting end coil and the near-device clamping arm.

[0163] S30. When the transmitting end device determines that the Q value decreases for R consecutive times, the two clamping arms clamp the receiving end device, where R is an integer greater than or equal to 1, usually 2.

[0164] like Figure 10A As shown in (1), the minimum distance between the clamping arm 203 (near-device clamping arm) and the receiving-end device is less than or equal to the preset distance 1, and the vertical center axis of the receiving-end coil is not between the vertical center axis of the transmitting-end coil and the near-device clamping arm. At this time, moving the clamping arm 203a in the positive direction can push the receiving-end device so that the receiving-end device moves along direction 1, and the clamping arm 203b can be moved in the positive direction so that the clamping arm 203b is close to the receiving-end device (distance S420 is less than distance S410). During the movement, the Q value is detected according to the preset frequency 1. Comparison Figure 10A (1) and Figure 10A In (2), during the movement, the vertical center axes of the two coils (transmitter coil and receiver coil) gradually move away from each other, so that the detected Q value decreases continuously. Here, the value is moved to Figure 10A Take the position shown in (2) as an example.

[0165] If the transmitting end device determines that the Q value has become smaller for R consecutive times, the transmitting end device can make the two clamping arms be in a state of clamping the receiving end device. Figure 10A As shown in (2), since the clamp arm 203a pushes the receiving end device to do work, the motor current corresponding to the clamp arm 203a can be larger (compared to the motor corresponding to the clamp arm 203b). At this time, the receiving end device controls the motor corresponding to the clamp arm 203a to stop rotating so that the clamp arm 203a and the receiving end device both stop moving, and controls the motor corresponding to the clamp arm 203b to continue rotating so that the clamp arm 203b contacts the receiving end device. A schematic diagram after the two clamp arms clamp the receiving end device can be referred to Figure 10A Chinese (3).

[0166] The details of how the wireless receiving device enables the two clamping arms to clamp the receiving device can be found in the aforementioned description of the related contents, which will not be repeated here.

[0167] S31. Control the two clamping arms to move the receiving end device along direction 2 (opposite to direction 1) at rate A1.

[0168] After the two clamping arms clamp the receiving end device, the transmitting end device can control the two clamping arms to move the receiving end device in the reverse direction, where the reverse direction refers to the reverse direction 2 which is opposite to the direction 1.

[0169] The process of moving the receiving device in direction 2 includes: continuing to rotate the motor with the smaller current among the motors corresponding to the two clamping arms to move the clamping arm corresponding to the motor with the smaller current in the positive direction at a rate A1. At the same time, reversely rotate the motor with the larger current among the motors corresponding to the two clamping arms to move the clamping arm corresponding to the motor with the larger current in the reverse direction at a rate A1. Figure 10A As shown in (3), since arm 203a is pushing the receiving device to move, the motor current corresponding to arm 203a is relatively large. Therefore, the transmitting device can rotate the motor corresponding to arm 203a in the reverse direction to move arm 203a in the reverse direction, and rotate the motor corresponding to arm 203b in the forward direction to cause arm 203b to push the receiving device to move in direction 2.

[0170] S32. During the process of moving the receiving device along direction 2, the transmitting device continues to control the two clamping arms to move the receiving device along direction 2 at a rate A1 when determining that the Q value increases W2 times in a row; W2 is an integer greater than or equal to 1.

[0171] The value of W2 is random and may be different in different situations.

[0172] contrast Figure 10A (3) and Figure 10A In step (4), the transmitting device moves arm 203a in the reverse direction and arm 203b in the forward direction, pushing the receiving device in direction 2. This causes the vertical axes of the two coils (the transmitting coil and the receiving coil) to gradually approach each other, causing the detected Q value to increase W2 times in a row. The receiving device then continues to move in direction 2 at rate A1.

[0173] S33. While continuing to move the receiving device along direction 2, when the transmitting device determines that the Q value has decreased for R consecutive times, the two clamping arms are controlled to move the receiving device along direction 1 at a rate of A1 for E×R times and return to the position where the Q value is the largest in the horizontal direction (target position 1).

[0174] contrast Figure 10B (1) and Figure 10BAs shown in (2), the transmitting device moves the clamping arm 203a in the reverse direction and the clamping arm 203b in the forward direction, pushing the receiving device in direction 2. In this way, the vertical center axes of the two coils (the transmitting coil and the receiving coil) gradually move away from each other, causing the detected Q value to continuously decrease. If it is determined that the Q value has decreased R times in a row, the transmitting device can control the two clamping arms to move the receiving device in the reverse direction (in direction 1) again at a rate A1 for E×R times back to the target position 1.

[0175] The process of moving the receiving end device in the reverse direction to the target position 1 includes: rotating the motor with the smaller initial current among the motors corresponding to the two clamping arms to move the clamping arm corresponding to the motor with the smaller initial current in the positive direction at a rate A1. At the same time, reversely rotating the motor with the larger initial current among the motors corresponding to the two clamping arms to move the clamping arm corresponding to the motor with the larger initial current in the reverse direction at a rate A1, and stopping the clamping arms after moving E×R times, so that the two clamping arms move the receiving end device along direction 2 (opposite to direction 1) to the target position 1. The process of moving the receiving end device back to the target position 1 along direction 1 can refer to the following description. Figure 10B (2) and Figure 10B Description of (3) in the figure. Before the receiving end device is moved in the reverse direction, the clamp arm 203b pushes the receiving end device to do work, so the motor current corresponding to the clamp arm 203b is larger, and the motor current corresponding to the clamp arm 203a is smaller. Then the receiving end device rotates the motor corresponding to the clamp arm 203a in the reverse direction to move the clamp arm 203a in the positive direction, and rotates the motor corresponding to the clamp arm 203b in the reverse direction to move the clamp arm 203b in the reverse direction. In this way, the receiving end device can be pushed to move to the target position 1 along direction 1 to complete the horizontal alignment. An exemplary content after completing the horizontal alignment can be referred to. Figure 10B As shown in (3), at this time, the vertical center axes of the two coils coincide.

[0176] In some possible cases, after completing the horizontal alignment, the transmitting end device can unfold the clamping arm so that the receiving end device is not clamped by the clamping arm, making it easier to pick up the receiving end device. Figure 10B (3) and Figure 10B As shown in (4), the transmitting end device can move the clamping arm 203a in the opposite direction and the clamping arm 203b in the opposite direction, so that the clamping arm can be unfolded. A schematic diagram after the clamping arm is unfolded can be referred to Figure 10B The content shown in (4).

[0177] Figure 11A as well as Figure 11B A schematic diagram showing the completion of horizontal alignment in state C is shown.

[0178] The following combination Figure 11A 、 Figure 11BAnd when the initial state described in steps S40 to S44b is the aforementioned state C, the transmitting end device completes the horizontal alignment process according to rule 11. State C includes: Figure 7 As shown in (3), the distance between the two clamping arms and the receiving end device is greater than the preset distance 1.

[0179] S40. When it is determined that the Q value is the same for T consecutive times, the transmitting end device moves the two clamping arms in the positive direction at a rate B1 (greater than a rate A1), and performs Q value detection at a preset frequency 2 (less than a preset frequency 1) during the movement of the clamping arms, where T is an integer greater than or equal to 1, for example, it can be 1 or 2, usually 2.

[0180] refer to Figure 11A As shown in (1), the two clamping arms (including clamping arms 203a and 203b) are far away from the receiving end device. Therefore, the receiving end device does not move during the process of moving the clamping arms in the positive direction, and the Q value does not change. Figure 11A (1) and Figure 11A In (2), when it is determined that the Q value is the same for T consecutive times, the transmitting end device can accelerate the movement of the clamping arms so that at least one clamping arm quickly contacts the receiving end device.

[0181] S41. When it is detected that at least one clamping arm is in contact with the receiving device, the two clamping arms are controlled to move in a square direction at a rate A1, and Q value detection is performed at a preset frequency 1 during the movement of the clamping arms.

[0182] At least one clamping arm contacts the receiving device, including but not limited to the following situations:

[0183] Case 11: One clamping arm contacts the receiving device, while the other clamping arm does not. In this case, the transmitting device controls the two clamping arms to move in the square direction at a rate A1, which can push the receiving device to move in direction 1. After the movement begins, the vertical axis lines of the two coils can move closer or farther away. The process of achieving horizontal alignment when the vertical axis lines of the two coils move closer after the movement begins can refer to the aforementioned steps S20-S22, and Figure 9A 、 Figure 9B The process of achieving horizontal alignment when the vertical center axes of the two coils are separated after the start of movement can refer to the aforementioned steps S30 to S33, and Figure 10A 、 Figure 10B The description is not repeated here.

[0184] Case 12: Both arms contact the receiving device. In this case, when the transmitting device controls the two arms to move in a square direction, the forces exerted by the two arms cancel each other out, preventing the receiving device from moving. Therefore, the Q value remains unchanged. For a description of how the transmitting device achieves horizontal alignment in this case, refer to the following descriptions of steps S42, S43a, S43b, and S44b.

[0185] S42. During the process of controlling the two clamping arms to move in the square, when the transmitting end device determines that the Q value is the same for U consecutive times, the two clamping arms are controlled to move the receiving end device along the test direction at a rate A1.

[0186] The test direction is random and can be horizontally left or right, and can be regarded as the direction in which the receiving device first moves. In some possible cases, the test direction can be the aforementioned direction 1.

[0187] like Figure 11A As shown in (2), both clamping arms (including clamping arms 203a and 203b) are in contact with the receiving device. At this time, when the transmitting device controls the two clamping arms to move in the square, the forces of the two clamping arms cancel each other out, and the receiving device does not move, so the Q value remains unchanged. At this time, the relative position of the vertical center axis of the two coils does not change, for example, the distance between the two coils is Figure 11A (1) and Figure 11A S41 shown in (2).

[0188] If the transmitting device determines that the Q value is the same for U consecutive times, it can control the two clamping arms to move the receiving device along the test direction at a rate A1 to perform horizontal alignment. This process of controlling the two clamping arms to move the receiving device along the test direction at a rate A1 includes: rotating the motor corresponding to one clamping arm in the reverse direction to move the clamping arm, and rotating the motor corresponding to the other clamping arm to move the clamping arm in the forward direction. This enables the receiving device to move.

[0189] After controlling the two arms to move the receiving device along the test direction at rate A1, the initial change in the Q value may include an increase or decrease. If the initial change in the Q value is an increase, refer to the description of step S43a below. If the initial change in the Q value is a decrease, refer to the description of steps S43b and S44b below, which will not be repeated here.

[0190] S43a. During the process of moving the receiving device along the test direction, when the transmitting device determines that the Q value increases for W3 consecutive times and then decreases for R consecutive times, the two clamping arms are controlled to move the receiving device E×R times in the opposite direction of the test direction at a rate A1 and return to the position where the Q value is the largest in the horizontal direction (target position 1); wherein W3 is an integer greater than or equal to 1.

[0191] The value of W3 is random and may be different in different situations.

[0192] like Figure 11A As shown in (3), the transmitting end device controls the clamping arm 203a to move in the positive direction, and controls the clamping arm 203b to move in the reverse direction, so that the receiving end device moves in the test direction. Figure 11A (3) and Figure 11A In (4), during the movement of the receiving device, the vertical center axis of the receiving coil gradually approaches the vertical center axis of the transmitting coil. During this process, the Q value continuously increases. An exemplary display of the transmitting device determining the Q value for W3 consecutive times can be referred to Figure 11A Then, the transmitting end device continues to control the clamping arm 203a to move in the positive direction, and controls the clamping arm 203b to move in the reverse direction, so that the receiving end device continues to move in the test direction.

[0193] contrast Figure 11B (1) and Figure 11B In (2), while continuing to control the clamping arm 203a to move in the positive direction, and controlling the clamping arm 203b to move in the reverse direction, so that the receiving end device continues to move in the test direction, the vertical center axis of the receiving end coil gradually moves away from the vertical center axis of the transmitting end coil, and the Q value becomes smaller. After detecting that the Q value has decreased for R consecutive times, the transmitting end device can control the clamping arm 203a to move in the reverse direction, and control the clamping arm 203b to move in the positive direction, so that the receiving end device moves in the reverse direction to the target position 1, completing the horizontal alignment. An exemplary content after completing the horizontal alignment can be referred to Figure 11B As shown in (3), at this time, the vertical center axes of the two coils coincide. The description of moving the receiving end device in the reverse direction to the target position 1 can refer to the description of the reverse movement of the receiving end device in step S22 and step S33, which will not be repeated here.

[0194] In some possible cases, after completing the horizontal alignment, the transmitting end device can unfold the clamping arm so that the receiving end device is not clamped by the clamping arm, making it easier to pick up the receiving end device. Figure 11B (3) and Figure 11BAs shown in (4), the transmitting end device can move the clamping arm 203a in the opposite direction and the clamping arm 203b in the opposite direction, so that the clamping arm can be unfolded. A schematic diagram after the clamping arm is unfolded can be referred to Figure 11B The content shown in (4).

[0195] S43b. When it is determined that the Q value decreases for R consecutive times, the transmitting device controls the two clamping arms to move the receiving device in the opposite direction of the test direction at a rate A1.

[0196] Step S43b is similar in principle to steps S30 and S31 above, omitting the details of causing the two clamping arms to clamp the receiving device. In step S43b, both clamping arms are in contact with the receiving device, effectively clamping the receiving device. The aforementioned description of steps S30 and S31 is provided for further details.

[0197] S44b. During the process of moving the receiving end device in the opposite direction of the test direction, when it is determined that the Q value increases for W4 consecutive times and then decreases for R consecutive times, the transmitting end device controls the two clamping arms to move the receiving end device E×R times along the test direction at a rate A1 and returns to the position where the Q value is the largest in the horizontal direction (target position 1), where W4 is an integer greater than or equal to 1.

[0198] The content and principle of step S44b are the same as those of the aforementioned steps S32 and S33. Please refer to the aforementioned description of steps S32 and S33, which will not be repeated here.

[0199] It should be understood that the aforementioned Figure 8 In the related content, regardless of the initial state between the receiving device and the transmitting device, during the process of controlling the horizontal movement of the receiving device, the receiving device can only be moved in the opposite direction to target position 1 if the first condition is met. The first condition requires that the Q value continuously increases before the Q value is determined to decrease R times in a row. That is, the first condition can be understood as the Q value continuously increasing before the receiving device moves to target position 1 and then decreasing R times in a row after the receiving device moves to target position 1. This target position 1 can be referred to as the first position. The direction of movement of the receiving device during the process of the Q value continuously increasing and then decreasing R times in a row can be referred to as the first direction. For example, the first direction can be direction 1 involved in steps S20-S22; it can also be direction 2 involved in steps S31-S33; it can also be the predicted direction involved in step S43a; it can also be the opposite direction of the predicted direction involved in steps S43b and S44b. The clamping arm that pushes the receiving end device to move horizontally along the first direction can be called the first clamping arm, and the clamping arm that pushes the receiving end device to move in the opposite direction when the first condition is met is called the second clamping arm.

[0200] Figure 12 An exemplary flow chart of the transmitting end device implementing vertical alignment according to preset rule 2 is shown.

[0201] For details on vertical alignment, please refer to the following description of steps S201 to S204b.

[0202] S201. Move the transmitter coil at a rate C1 in a direction 3 (vertically upward or vertically downward). During the movement of the transmitter coil, Q-value detection is performed at a preset frequency 3. The preset frequency 3 includes a Q-value detection every preset time 2. The preset time 2 is the time it takes for the transmitter device to move the transmitter coil G times. Where G is an integer greater than or equal to 1, typically 1.

[0203] The rate C1 may be the same as or different from the preset rate A1 mentioned above. The preset frequency 3 may be the same as or different from the preset rate 1 mentioned above. This embodiment of the present application does not limit this.

[0204] In some possible cases, refer to the above Figure 4 (1) and Figure 4 The content shown in (2) in the figure. The transmitting device can rotate the motor corresponding to the transmitting coil based on the speed C2 so that the transmitting coil moves along the direction 3 (vertical movement) at the speed C1. The speed of movement of the transmitting coil is affected by the rotation speed of the motor corresponding to the transmitting coil: the speed of movement of the transmitting coil is proportional to the rotation speed of the motor. The faster the motor rotates, the faster the speed of movement of the transmitting coil, and the slower the motor rotates, the slower the speed of movement of the transmitting coil.

[0205] The transmitting device moves the transmitting coil to complete vertical alignment according to preset rule 2. Preset rule 2 includes the preset rules 21 and 22 mentioned above.

[0206] Among them, Rule 21 describes the vertical alignment method involved when the initial change state of the Q value is increased when the transmitting end coil is moved. For a detailed description of Rule 21, please refer to the following Figure 13 And the description of steps S202a to S203a.

[0207] Figure 13 A schematic diagram of a mobile transmitting coil is shown.

[0208] The following combination Figure 13 Steps S202a to S203a are described.

[0209] S202a. When it is determined that the Q value increases for P1 consecutive times, continue to move the transmitting coil along direction 3 at a rate C1; P1 is an integer greater than or equal to 1.

[0210] P1 is an integer greater than or equal to 1. The value of P1 is random and may be different in different situations.

[0211] contrast Figure 13 (1) and Figure 13 As shown in (2), the horizontal center axis of the transmitting coil gradually approaches the horizontal center axis of the receiving coil, causing the detected Q value to increase for P1 consecutive times. In some possible cases, the horizontal center axis of the receiving coil is a line passing through the center of the receiving coil and parallel to the horizontal side of the receiving device.

[0212] S203a. While continuing to move the transmitting coil in direction 3, if it is determined that the Q value has decreased R times in a row, move the transmitting coil in direction 4 (opposite to direction 3) at a rate C1 for G×R times back to the position where the Q value is maximum in the vertical direction (target position 2).

[0213] like Figure 13 As shown in (2), the horizontal center axis of the transmitter coil coincides with the horizontal center axis of the receiver coil. However, the transmitter device has not yet determined that the transmitter coil has reached the target position 2. Continuing to move the transmitter coil in direction 3, it can be determined that the Q value decreases R times in a row. At this time, the position of the transmitter coil relative to the receiver coil can be referenced. Figure 13 Then, the transmitting coil is moved in the reverse direction G×R times along the direction 4 (opposite to the direction 3) at a rate of C1 to return to the target position 2.

[0214] Rule 22 describes the vertical alignment method involved when the initial change state of the Q value is smaller when the transmitting coil is moved. For a detailed description of Rule 22, please refer to the description of steps S202b to S204b below.

[0215] S202b. When it is determined that the Q value decreases for R consecutive times, the transmitting coil is moved along direction 4 (opposite to direction 3) at a speed C1.

[0216] During the movement, the transmitting coil gradually moves away from the receiving coil, causing the Q value to decrease. When it is determined that the Q value decreases R times in a row, the transmitting coil is moved in direction 4 (opposite to direction 3) at a speed C1.

[0217] S203b. During the process of moving the transmitting coil along direction 4, if it is determined that the Q value increases for P2 consecutive times, continue to move the transmitting coil along direction 4 at a rate C1; P2 is an integer greater than or equal to 1.

[0218] The principle of step S203b is the same as that of the aforementioned step S202a, and the moving direction of the transmitting end coil is changed accordingly. Please refer to the aforementioned description of step S202a, which will not be repeated here.

[0219] S204b. While continuing to move the transmitting coil in direction 4, if it is determined that the Q value decreases R times in a row, move the transmitting coil in direction 3 at a rate C1 for G×R times back to the position where the Q value is maximum in the vertical direction (target position 2).

[0220] The principle of step S204b is the same as that of the aforementioned step S203a, and the moving direction of the transmitting end coil is changed accordingly. Please refer to the aforementioned description of step S203a, which will not be repeated here.

[0221] It should be understood that in some possible situations, in addition to controlling the movement of the receiving device via the clamping arm, other methods may be used to control the movement of the receiving device. For example, the device support base of the transmitting device may be configured as a sliding base with a variable sliding direction, and the horizontal movement of the receiving device may be controlled based on the movement of the sliding base instead of the clamping arm.

[0222] In some possible situations, in addition to controlling the horizontal movement of the receiving device and the vertical movement of the transmitting coil to complete the alignment, it is also possible to move the receiving device vertically and the transmitting coil horizontally to complete the alignment. This process can refer to the description above, except that the movement direction is changed. I will not repeat it here.

[0223] It should be understood that the aforementioned Figure 12 In the related content, during the movement of the transmitting coil, regardless of the initial state of the Q value, during the vertical movement of the transmitting coil, the transmitting coil can only be moved in the reverse direction to target position 2 if the second condition is met. The second condition states that during the vertical movement of the transmitting coil, the Q value must increase continuously before it is determined to decrease R times in a row. In other words, the second condition can be understood as the Q value increasing continuously before the transmitting coil moves to target position 2 and decreasing M times in a row after it moves to target position 2. Target position 2 can be referred to as the second position. During the process of the Q value increasing continuously before it decreases R times in a row, the direction of movement of the transmitting coil can be referred to as the second direction. For example, this second direction can be direction 3 mentioned in steps S202a and S203b. It can also be direction 4 mentioned in steps S202b through S204b.

[0224] Based on the foregoing description, it should be understood that, in some possible cases, the transmitting device may move the receiving device along a first direction, and during the process of moving the receiving device, the first parameter of the transmitting device is determined according to the first frequency; the receiving device is moved to a first position; the first position is the position of the receiving device when the transmitting device determines that the first parameter is maximum during the process of moving the receiving device; the transmitting device moves the transmitting coil along a second direction, and during the process of moving the transmitting coil, the first parameter of the transmitting device is determined according to the second frequency; the transmitting coil is moved to a second position; the second position is the position of the transmitting coil when the transmitting device determines that the first parameter is maximum during the process of moving the transmitting coil; the first direction and the second direction are perpendicular. Moving along the first direction can be understood as moving in the horizontal direction (which can be referred to as horizontal movement) or moving in the vertical direction (which can be referred to as vertical movement).

[0225] The following introduces an exemplary transmitting end device provided in an embodiment of the present application.

[0226] Figure 14 It is a structural diagram of the transmitting end device provided in an embodiment of the present application.

[0227] It should be understood that the transmitting device may have Figure 14 More or fewer components may be shown, two or more components may be combined, or the components may be arranged differently. Figure 14 The various components shown in the drawings may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application specific integrated circuits.

[0228] The transmitting end device may include: a processor 210 , a memory 220 , a transmitting end coil 230 , a clamping arm assembly 240 , and a motor assembly 250 .

[0229] The memory 220 is coupled to the processor 210 and can be used to store computer program code, which includes computer instructions. The processor 210 can call the computer instructions to enable the transmitting device to execute the device movement method involved in the embodiment of the present application.

[0230] The transmitting coil 230 can be used to transmit energy for charging the receiving coil. The transmitting coil can move vertically so that the receiving device and the transmitting device can be aligned vertically.

[0231] The clamping arm assembly 240 may include two clamping arms, which may be used to control the horizontal movement of the receiving end device so as to achieve horizontal alignment of the receiving end device and the transmitting end device.

[0232] The motor assembly 250 may include motors corresponding to the two clamping arms and a motor corresponding to the transmitter coil 230. The motors corresponding to the two clamping arms can control the movement of the clamping arms, and the motor corresponding to the transmitter coil 230 can control the movement of the transmitter coil 230.

[0233] The following introduces an exemplary receiving device provided in an embodiment of the present application.

[0234] Figure 15 It is a structural diagram of the receiving device provided in an embodiment of the present application.

[0235] The receiving device in the embodiment of the present application can be a terminal device equipped with Android, Huawei HarmonyOS, iOS or other operating systems. Figure 15 In the example shown, the receiving device is a mobile phone.

[0236] The receiving device may include a charging coil (ie, a receiving coil, such as coil 102 ). The receiving coil may be used to receive energy transmitted by the transmitting coil and convert the energy into electrical energy to charge the receiving device.

[0237] It should be understood that the structures illustrated in the embodiments of the present invention do not constitute specific limitations on the receiving device. In other embodiments of the present application, the receiving device may include more or fewer components than shown, or may combine or separate certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0238] In an embodiment of the present application, the receiving device may further include a processor, which may call computer instructions stored in an internal memory so that the receiving device executes the method involved in the embodiment of the present application.

[0239] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0240] As used in the above embodiments, the term “when…” may be interpreted to mean “if…” or “after…” or “in response to determining…” or “in response to detecting…”, depending on the context. Similarly, the phrases “upon determining…” or “if (stated condition or event) is detected” may be interpreted to mean “if determining…” or “in response to determining…” or “upon detecting (stated condition or event)” or “in response to detecting (stated condition or event)”, depending on the context.

[0241] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0242] Those skilled in the art will appreciate that all or part of the process steps in the above-described method embodiments can be implemented by a computer program instructing the relevant hardware. The program can be stored in a computer-readable storage medium, and when executed, the program can include the process steps in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A device movement method, applicable to a wireless charging system including a transmitting device and a receiving device, wherein: The transmitting device includes a transmitting coil, and the receiving device includes a receiving coil. The transmitting device further includes a device support base and two clamping arms. The device support base is used to place the receiving device. The two clamping arms include a first clamping arm and a second clamping arm. When the wireless charging system is in operation, the method includes: The transmitting end device controls the two clamping arms to retract; the retraction is used to control the two clamping arms to contact the receiving end device; When it is detected that the first parameter is the same for U consecutive times during the contraction process, the transmitting end device determines to move the receiving end device along the first direction; U is an integer greater than or equal to 1; Determining to move the receiving device along the first direction includes: moving the receiving device on the device support base along the first direction via the two clamping arms by the transmitting device, and determining the first parameter according to the first frequency during the movement of the receiving device; and moving the receiving device to a first position; wherein the first position is the position of the receiving device corresponding to when the first parameter is maximized during the movement of the receiving device. The transmitting device moves the transmitting coil along a second direction perpendicular to the first direction, and during the movement of the transmitting coil, determines the first parameter according to a second frequency; and moves the transmitting coil to a second position; wherein the second position is the position of the transmitting coil corresponding to when the first parameter is maximized during the movement of the transmitting coil; and the second direction is perpendicular to the device support base.

2. The method according to claim 1, characterized in that The method further comprises: When the transmitting device moves the receiving device along the first direction until a first condition is met, the transmitting device stops moving the receiving device along the first direction, and then moves the receiving device in the opposite direction of the first direction to the first position; wherein, The first condition includes: during the process of the transmitting device moving the receiving device, the detected first parameter continuously increases while the receiving device is moved along the first direction to the first position, and decreases R times continuously while the receiving device continues to move along the first direction after passing the first position; wherein R is an integer greater than or equal to 1; When the transmitting end device moves the transmitting end coil along the second direction until a second condition is satisfied, the transmitting end device stops moving the transmitting end coil along the second direction, and then moves the transmitting end coil in the opposite direction of the second direction to a second position; wherein, The second condition includes: during the process of the transmitting device moving the transmitting coil, the detected first parameter continuously increases while the transmitting coil is moved along the second direction to the second position, and decreases M times continuously while the transmitting coil continues to move along the second direction after passing the second position, where M is an integer greater than or equal to 1.

3. The method according to claim 1 or 2, characterized in that The method further comprises: Before the transmitting end device moves the receiving end device along the first direction, the transmitting end device charges the receiving end device with a first power; After the transmitting-end device moves the transmitting-end coil to the second position, the transmitting-end device charges the receiving-end device at a second power; wherein, The second power is greater than the first power.

4. The method according to claim 2 or 3, characterized in that Before the transmitting end device moves the receiving end device along the first direction, the method further includes: If the detected first parameter decreases R times in succession while the transmitting device moves the receiving device in the opposite direction to the first direction, it is determined that the transmitting device moves the receiving device in the first direction.

5. The method according to any one of claims 2 to 4, characterized in that The first frequency is that the transmitting end device determines the first parameter once every first time, and the first time is the time for the transmitting end device to move the clamping arm E times; Moving the receiving device along the first direction specifically includes: The transmitting end device pushes the receiving end device to move along the first direction through the first clamping arm; When the receiving device is moved until a first condition is satisfied, the transmitting device controls the receiving device to move to the first position in a direction opposite to the first direction, specifically including: The transmitting end device moves the receiving end device based on the first clamping arm until the first condition is satisfied, and the transmitting end device causes the two clamping arms to be in a state of clamping the receiving end device; the two clamping arms include the first clamping arm and the second clamping arm; The transmitting end device pushes the receiving end device to move E times R times in the opposite direction of the first direction to the first position based on the second clamping arm.

6. The method according to claim 5, characterized in that Before the transmitting end device determines that at least one of the two clamping arms contacts the receiving end device, the method further includes: The transmitting end device moves the two clamping arms toward the transmitting end coil at a first rate, and determines the first parameter according to the first frequency; During the process of moving the two clamping arms, if the transmitting end device determines that the first parameter is the same for T consecutive times, the two clamping arms are moved toward the transmitting end coil at a second rate and the first parameter is determined at a third frequency; wherein the first rate is less than the second rate; the third frequency is less than the first frequency; and T is an integer greater than or equal to 1.

7. The method according to claim 5 or 6, characterized in that The transmitting end device further includes a motor corresponding to the first clamping arm and a motor corresponding to the second clamping arm, wherein the first clamping arm moves once when the motor corresponding to the first clamping arm rotates once, and the second clamping arm moves once when the motor corresponding to the second clamping arm rotates once; When the transmitting end device moves the receiving end device based on the first clamping arm until the first condition is satisfied, the method further includes: When the transmitting end device determines that the motors corresponding to the two clamping arms are both stalled, the transmitting end device determines that the two clamping arms are in a state of clamping the receiving end device; When the transmitting end device determines that the motors corresponding to the two clamping arms are not both blocked, the motor corresponding to the two clamping arms is controlled so that the motor with a larger current stops rotating and the motor with a smaller current continues rotating so that the clamping arms corresponding to the motor with a smaller current contacts the receiving end device, so that the two clamping arms are in a state of clamping the receiving end device.

8. The method according to claim 7, characterized in that The transmitting end device pushes the receiving end device to move E times R times in the opposite direction of the first direction to the first position based on the second clamping arm, specifically including: When the two clamping arms are in a state of clamping the receiving end device, the motor with a larger initial current among the motors corresponding to the two clamping arms is rotated in the opposite direction E times R times. At the same time, the transmitting end device rotates the motor with a smaller initial current among the motors corresponding to the two clamping arms E times R times, so that the clamping arm corresponding to the motor with a smaller initial current pushes the receiving end device to move E times R times in the opposite direction of the first direction to the first position; the initial current of the motor includes the current of the motor obtained when the receiving end device is moved to meet the first condition; wherein, the clamping arm corresponding to the motor with a smaller initial current is the second clamping arm; the clamping arm corresponding to the motor with a larger initial current is the first clamping arm.

9. The method according to any one of claims 2 to 8, characterized in that Before moving the transmitting coil along the second direction, the method further includes: If the detected first parameter decreases M times consecutively during the process of the transmitting device moving the transmitting coil in the opposite direction of the second direction, it is determined that the transmitting device moves the transmitting coil in the second direction.

10. The method according to claim 9, characterized in that The transmitting end device further includes a motor corresponding to the transmitting end coil, and the transmitting end coil moves once the motor corresponding to the transmitting end coil rotates once; the second frequency determines the first parameter once every second time, and the second time is the time it takes for the transmitting end device to move the transmitting end coil G times; The transmitting-end device controls the transmitting-end coil to move to a second position in a direction opposite to the second direction, specifically comprising: The transmitting-end device rotates the motor corresponding to the transmitting-end coil in the reverse direction G times M times, and controls the transmitting-end coil to move to a second position in the opposite direction of the second direction.

11. The method according to any one of claims 1 to 10, characterized in that The first parameter is a quality factor Q, which is used to measure the charging efficiency of the transmitting device. The higher the charging efficiency, the larger the first parameter.

12. A transmitting end device, comprising a transmitting end coil, characterized in that: The transmitting end device further includes a device support base and two clamping arms, wherein the device support base is used to place the receiving end device, and the two clamping arms include a first clamping arm and a second clamping arm, wherein: Controlling the two clamping arms to retract; the retraction is used to control the two clamping arms to contact the receiving end device; When it is detected that the first parameter is the same for U consecutive times during the contraction process, the transmitting end device determines to move the receiving end device along the first direction; U is an integer greater than or equal to 1; Determining to move the receiving device along the first direction includes: moving the receiving device on the device support base along the first direction using the two clamping arms, and, during the movement of the receiving device, determining the first parameter according to the first frequency; and moving the receiving device to a first position; Moving the transmitting coil in a second direction perpendicular to the first direction, and determining the first parameter according to a second frequency during the movement of the transmitting coil; moving the transmitting coil to a second position; wherein the second direction is perpendicular to the device support base; When the transmitting end device moves the receiving end device along the first direction through the two clamping arms until a first condition is met, the receiving end device stops moving along the first direction, and then moves the receiving end device in the opposite direction of the first direction to the first position; wherein, The first condition includes: during the process of the transmitting device moving the receiving device, the detected first parameter continuously increases while the receiving device is moved along the first direction to the first position, and decreases R times continuously while the receiving device continues to move along the first direction after passing the first position; wherein R is an integer greater than or equal to 1; When the transmitting end device moves the transmitting end coil along the second direction until a second condition is satisfied, the transmitting end coil stops moving along the second direction, and then moves the transmitting end coil in the opposite direction of the second direction to a second position; wherein, The second condition includes: during the process of the transmitting device moving the transmitting coil, the detected first parameter continuously increases while the transmitting coil is moved along the second direction to the second position, and decreases M times continuously while the transmitting coil continues to move along the second direction after passing the second position, where M is an integer greater than or equal to 1.

13. A transmitting end device, characterized in that: The transmitting end device includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the transmitting end device to execute the method as described in any one of claims 1 to 11.

14. A computer storage medium, characterized in that The storage medium stores a computer program, wherein the computer program includes executable instructions. When the executable instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 11.

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