Waterproof socket wireless charging intelligent alignment method and system

Abstract

The present application relates to the technical field of wireless charging, and more particularly to a waterproof socket wireless charging intelligent alignment method and system, which obtains spatial position data of a charging receiving end in a waterproof socket charging area, establishes a spatial coordinate relationship model to calculate a three-dimensional offset vector, generates a layered alignment strategy, adjusts the excitation distribution and phase amplitude of a transmitting end coil array, collects coupled voltage waveform data and performs frequency domain decomposition to obtain harmonic components when the strategy is executed, identifies waterproof medium influence characteristics as a compensation factor to correct the offset vector, and locks the state to establish an energy transmission channel when the corrected offset vector converges, thereby achieving efficient and accurate alignment of wireless charging in a waterproof environment and improving charging efficiency and stability.

Description

Technical Field

[0001] This invention relates to the field of wireless charging technology, and more particularly to a method and system for intelligent alignment of a waterproof socket for wireless charging. Background Technology

[0002] In existing wireless charging technologies, especially for charging scenarios with enclosed or semi-enclosed casings such as waterproof sockets, alignment methods generally rely on the principle of electromagnetic induction coupling. Common approaches include position sensing based on changes in mutual inductance between the receiving and transmitting coils, determining alignment accuracy by detecting fluctuations in the coupling voltage or current. Some solutions employ mechanical adjustment mechanisms, combining coarse and fine adjustments based on the peak magnetic field strength feedback from a single sensor. Other approaches introduce visual recognition modules, using a camera to capture marker points or contours on the receiving end, and then using a pre-defined mapping relationship to drive the movement of the transmitting end or adjust the physical orientation of the transmitting coil. These methods typically treat the alignment process as a static matching task, emphasizing a one-time calibration of the initial position.

[0003] However, the aforementioned conventional methods have significant drawbacks. Waterproof sockets typically contain a sealing dielectric layer or a waterproof membrane, which introduces non-negligible phase lag and amplitude attenuation along the electromagnetic field transmission path. Existing methods often simplify the influence of the dielectric layer to a constant value or ignore it altogether when calculating alignment parameters, leading to systematic biases in offset estimations based on ideal spatial models. Especially during charging, the waterproof layer may experience slight fluctuations in dielectric properties due to temperature differences or pressure changes, causing pre-set correction coefficients to fail and resulting in a continuous decline in energy transfer efficiency. Summary of the Invention

[0004] The present invention provides a method and system for intelligent alignment of a waterproof socket for wireless charging, which can solve the problems in the prior art.

[0005] A first aspect of the present invention provides a smart alignment method for wireless charging of a waterproof socket, comprising:

[0006] Acquire spatial position data of the charging receiver within the charging area of ​​the waterproof socket, wherein the spatial position data is characterized by the phase difference and amplitude difference of the coil array induction signal;

[0007] Based on the spatial location data, a spatial coordinate relationship model between the receiver and the transmitter is established, and the three-dimensional offset vector of the receiver relative to the transmitter is calculated.

[0008] A layered alignment strategy is generated based on the three-dimensional offset vector. The magnetic field center is moved to the receiving end position by adjusting the excitation distribution of the transmitting end coil array. The direction of the synthesized magnetic field is matched with the attitude angle of the receiving end coil by adjusting the excitation phase and amplitude distribution.

[0009] The layered alignment strategy is executed and the coupling voltage waveform data between the transmitter and receiver is collected in real time. The frequency domain decomposition of the coupling voltage waveform data is performed to obtain the harmonic component distribution.

[0010] Based on the harmonic component distribution, the influence characteristics of the waterproof medium layer on the electromagnetic field transmission path are identified. The influence characteristics are introduced into the spatial coordinate relationship model as a compensation factor to dynamically correct the three-dimensional offset vector and adjust the execution parameters of the layer alignment strategy in real time.

[0011] When the corrected three-dimensional offset vector converges to the offset range, the current state of the transmitter and receiver is locked, an energy transmission channel is established, and the charging process is started.

[0012] Based on the spatial location data, a spatial coordinate relationship model between the receiver and the transmitter is established, and the three-dimensional offset vector of the receiver relative to the transmitter is calculated, including:

[0013] Based on the spatial location data, the phase difference of the induced signal between multiple coil units in the coil array and the receiving coil is extracted to form a phase observation matrix;

[0014] Spatial interpolation is performed on the phase observation matrix to generate a continuous phase field distribution function. The horizontal projection center position of the receiving coil is determined by solving the intersection of the equiphase lines of the continuous phase field distribution function.

[0015] The amplitude difference of the induced signal of each coil unit in the coil array is collected, and the amplitude difference data is correlated and fitted with the planar distance from each coil unit to the projection center position to establish an amplitude distance attenuation characteristic curve. Based on the curvature change rate of the amplitude distance attenuation characteristic curve, the spatial height of the receiving coil relative to the transmitting plane is calculated.

[0016] A three-dimensional position vector of the receiver is constructed using the planar coordinates of the projection center position and the spatial height. The vector difference between the three-dimensional position vector and the origin of the transmitter coordinate system is calculated to obtain the three-dimensional offset vector. The magnitude and orientation angle of the three-dimensional offset vector are used as the state variables of the spatial coordinate relationship model.

[0017] A layered alignment strategy is generated based on the three-dimensional offset vector. This strategy involves adjusting the excitation distribution of the transmitting coil array to migrate the magnetic field center towards the receiving end position, and adjusting the excitation phase and amplitude distribution to match the direction of the synthesized magnetic field with the attitude angle of the receiving coil. This includes:

[0018] The three-dimensional offset vector is decomposed into radial and tangential offset components in the horizontal plane and axial offset components in the vertical direction;

[0019] Based on the radial offset component and the tangential offset component, the offset angle and offset distance of the receiver relative to the geometric center of the coil array of the transmitter are calculated. An excitation weight allocation function is constructed based on the offset angle and the offset distance, and a differentiated excitation current amplitude is assigned to each coil unit so that the excitation current amplitude is distributed in an increasing manner in the offset angle direction and in a decreasing manner in the opposite direction, thereby driving the magnetic field center to migrate toward the receiver position.

[0020] Obtain the attitude angle information of the receiving coil, and calculate the angle between the normal vector of the receiving coil and the normal vector of the transmitting coil array based on the attitude angle information and the axial offset component;

[0021] A phase compensation mapping relationship is established based on the included angle, and a differentiated phase offset is set for the excitation current of each coil unit, so that the magnetic field components generated by each coil unit are combined at the receiving end position into a magnetic field aligned with the normal vector of the receiving end coil;

[0022] The adjusted excitation current amplitude and phase offset of each coil unit are used as the execution parameters of the layered alignment strategy.

[0023] A phase compensation mapping relationship is established based on the included angle, and a differentiated phase offset is set for the excitation current of each coil unit, so that the magnetic field components generated by each coil unit are synthesized at the receiving end position into a magnetic field aligned with the normal vector of the receiving end coil, including:

[0024] Based on the principle of magnetic field vector rotation, a functional relationship is established between the included angle and the phase distribution of the coil array. The functional relationship describes the phase configuration rule required to rotate the direction of the synthesized magnetic field to align with the normal vector of the receiving coil. Based on the functional relationship, a phase compensation mapping relationship is constructed, and the included angle is mapped to the phase compensation coefficient corresponding to each coil unit.

[0025] The reference phase offset of each coil unit is calculated using the phase compensation coefficient, and the spatial coordinate information of each coil unit in the transmitting coil array is obtained. The spatial distance between each coil unit and the receiving coil is calculated based on the spatial coordinate information.

[0026] The propagation phase delay caused by the magnetic field propagating to the receiving end position is calculated based on the spatial distance. The propagation phase delay is then superimposed with the reference phase offset to obtain the comprehensive phase offset of each coil unit.

[0027] The phase of the excitation current of each coil unit is adjusted according to the comprehensive phase offset, so that the magnetic field components generated by each coil unit are vector synthesized according to the preset relative phase relationship when they reach the receiving end position, generating a synthetic magnetic field with the direction consistent with the normal vector of the receiving end coil.

[0028] The layered alignment strategy is executed, and the coupling voltage waveform data between the transmitter and receiver is acquired in real time. The frequency domain decomposition of the coupling voltage waveform data is then performed to obtain the harmonic component distribution, including:

[0029] During the execution of the hierarchical alignment strategy, a real-time monitoring channel for coupling voltage is established. Coupling voltage waveform data is synchronously collected according to the adjustment rhythm of the hierarchical alignment strategy. The coupling voltage waveform data includes voltage amplitude sequences for multiple time periods before and after alignment adjustment. The voltage amplitude sequences are divided into sliding time windows, and each time window covers at least one complete operating frequency cycle.

[0030] The voltage amplitude sequence within each time window is transformed in the frequency domain, and the frequency domain spectral data corresponding to each time window is extracted. The frequency domain spectral data of different time windows are arranged in chronological order to construct a time-frequency matrix. The row dimension of the time-frequency matrix represents the time evolution, the column dimension represents the frequency component, and the matrix element value represents the energy intensity.

[0031] Peak search is performed on the time-frequency matrix along the frequency dimension to lock the fundamental frequency position and the positions of each harmonic frequency, and the energy evolution trajectory at each harmonic frequency position is extracted along the time dimension.

[0032] The average energy percentage and energy fluctuation amplitude of each harmonic component are statistically analyzed, and the harmonic component distribution is generated by combining the trend characteristics of the energy evolution trajectory.

[0033] Based on the harmonic component distribution, the influence characteristics of the waterproof dielectric layer on the electromagnetic field transmission path are identified. These influence characteristics are then introduced as compensation factors into the spatial coordinate relationship model to dynamically correct the three-dimensional offset vector and adjust the execution parameters of the layered alignment strategy in real time, including:

[0034] The energy evolution trajectory in the harmonic component distribution is correlated with the spatial position change during the execution of the layered alignment strategy. The harmonic energy distribution at each moment is mapped to the corresponding three-dimensional spatial coordinate point, and the spatial gradient is calculated to obtain the harmonic gradient tensor. Each component of the harmonic gradient tensor characterizes the anisotropic influence of the waterproof medium layer on the electromagnetic field transmission in different spatial directions.

[0035] Principal component decomposition is performed on the harmonic gradient tensor to extract the eigenvalues ​​corresponding to the main influence direction and the secondary influence direction, and the eigenvalues ​​are mapped to the equivalent thickness parameter and the equivalent dielectric constant parameter of the dielectric layer.

[0036] A compensation factor matrix is ​​constructed based on the equivalent thickness parameter and the equivalent dielectric constant parameter. Each element of the compensation factor matrix corresponds to the correction weight of the three-dimensional coordinate axis direction in the spatial coordinate relationship model. The compensation factor matrix and the coordinate transformation matrix of the spatial coordinate relationship model are multiplied to obtain the correction coordinate transformation matrix.

[0037] The three-dimensional offset vector is recalculated using the corrected coordinate transformation matrix, and the difference in the three-dimensional offset vector is calculated. The execution parameters of each level in the layered alignment strategy are adjusted according to the direction and magnitude of the difference.

[0038] The energy evolution trajectory in the harmonic component distribution is correlated with the spatial position changes during the execution of the hierarchical alignment strategy. The harmonic energy distribution at each moment is mapped to the corresponding three-dimensional spatial coordinate points, and the spatial gradient is calculated to obtain the harmonic gradient tensor, including:

[0039] The time axis of the energy evolution trajectory in the harmonic component distribution is parameterized as the execution step sequence of the hierarchical alignment strategy. The three-dimensional spatial coordinate point at the corresponding moment is calculated by accumulating the movement vector of each execution step. The movement vector is determined by the direction and step size of the alignment adjustment at each level.

[0040] The energy values ​​of each harmonic frequency component are projected onto the corresponding three-dimensional spatial coordinate points to form a three-dimensional energy distribution with spatial coordinates as the independent variable and harmonic energy as the dependent variable.

[0041] Gradient operator operations are performed on the three-dimensional energy distribution, and directional derivatives are calculated along each coordinate axis of the three-dimensional coordinate system. The directional derivatives along each coordinate axis constitute a harmonic gradient vector, and the direction of the harmonic gradient vector points to the spatial direction where the harmonic energy grows the fastest.

[0042] For each harmonic frequency component, the corresponding harmonic gradient vector is calculated. The harmonic gradient vectors of all harmonic frequency components are organized into a harmonic gradient tensor according to the frequency dimension and the spatial dimension. The frequency dimension indexes each harmonic, and the spatial dimension indexes the direction of the three-dimensional coordinate axis. The tensor element values ​​quantify the influence intensity of the waterproof medium layer on the transmission of electromagnetic field energy at a specific frequency and in a specific spatial direction.

[0043] A second aspect of the present invention provides a waterproof socket wireless charging smart alignment system, comprising:

[0044] The location data unit is used to acquire the spatial location data of the charging receiver within the charging area of ​​the waterproof socket. The spatial location data is characterized by the phase difference and amplitude difference of the coil array sensing signal.

[0045] The modeling offset unit is used to establish a spatial coordinate relationship model between the receiver and the transmitter based on the spatial location data, and to calculate the three-dimensional offset vector of the receiver relative to the transmitter.

[0046] The layered alignment unit is used to generate a layered alignment strategy based on the three-dimensional offset vector, realize the migration of the magnetic field center to the receiving end position by adjusting the excitation distribution of the transmitting end coil array, and make the direction of the synthesized magnetic field match the attitude angle of the receiving end coil by adjusting the excitation phase and amplitude distribution.

[0047] The frequency domain decomposition unit is used to execute the hierarchical alignment strategy and collect the coupling voltage waveform data between the transmitter and receiver in real time, and perform frequency domain decomposition on the coupling voltage waveform data to obtain the harmonic component distribution.

[0048] The compensation and correction unit is used to identify the influence characteristics of the waterproof medium layer on the electromagnetic field transmission path based on the harmonic component distribution, introduce the influence characteristics as a compensation factor into the spatial coordinate relationship model, dynamically correct the three-dimensional offset vector, and adjust the execution parameters of the layer alignment strategy in real time.

[0049] The locking charging unit is used to lock the current state of the transmitter and receiver when the corrected three-dimensional offset vector converges to the offset range, establish an energy transmission channel and start the charging process.

[0050] A third aspect of the present invention provides an electronic device, comprising:

[0051] processor;

[0052] Memory used to store processor-executable instructions;

[0053] The processor is configured to invoke instructions stored in the memory to execute the aforementioned method.

[0054] A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the aforementioned method.

[0055] This invention, based on spatial position data acquisition of phase and amplitude differences, combined with three-dimensional offset vector calculation and a layered alignment strategy, achieves rapid and accurate alignment between the receiver and transmitter, avoiding multiple trial-and-error adjustments required in traditional methods and significantly shortening alignment time. By adjusting the excitation distribution and magnetic field direction of the transmitter coil array, the center of the synthesized magnetic field is precisely migrated to the receiver position, effectively improving coupling efficiency and laying a reliable foundation for subsequent high-efficiency energy transmission.

[0056] After frequency domain decomposition of the coupled voltage waveform, the interference characteristics of the waterproof dielectric layer on the electromagnetic field transmission path can be accurately identified. As a compensation factor, it is dynamically introduced into the spatial coordinate relationship model, so that the three-dimensional offset vector can be corrected in real time, overcoming the problems of magnetic field distortion and energy attenuation caused by the dielectric layer.

[0057] By continuously monitoring the coupling voltage waveform and dynamically adjusting the layered alignment strategy, when the corrected three-dimensional offset vector converges to the allowable range, the system automatically locks the current state and starts the charging process. The established energy transmission channel has high stability and low mismatch loss, enabling the wireless charging process to be completed efficiently and reliably even in enclosed environments such as waterproof sockets. Attached Figure Description

[0058] Figure 1 This is a flowchart illustrating the intelligent alignment method for wireless charging of a waterproof socket according to an embodiment of the present invention.

[0059] Figure 2 This is a flowchart illustrating the method for constructing a spatial coordinate relationship model and calculating a three-dimensional offset vector in an embodiment of the present invention. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0062] Figure 1 This is a flowchart illustrating the intelligent alignment method for wireless charging of a waterproof socket according to an embodiment of the present invention. The present invention provides an intelligent alignment method for wireless charging of a waterproof socket, comprising:

[0063] Acquire spatial position data of the charging receiver within the charging area of ​​the waterproof socket, wherein the spatial position data is characterized by the phase difference and amplitude difference of the coil array induction signal;

[0064] Based on the spatial location data, a spatial coordinate relationship model between the receiver and the transmitter is established, and the three-dimensional offset vector of the receiver relative to the transmitter is calculated.

[0065] A layered alignment strategy is generated based on the three-dimensional offset vector. The magnetic field center is moved to the receiving end position by adjusting the excitation distribution of the transmitting end coil array. The direction of the synthesized magnetic field is matched with the attitude angle of the receiving end coil by adjusting the excitation phase and amplitude distribution.

[0066] The layered alignment strategy is executed and the coupling voltage waveform data between the transmitter and receiver is collected in real time. The frequency domain decomposition of the coupling voltage waveform data is performed to obtain the harmonic component distribution.

[0067] Based on the harmonic component distribution, the influence characteristics of the waterproof medium layer on the electromagnetic field transmission path are identified. The influence characteristics are introduced into the spatial coordinate relationship model as a compensation factor to dynamically correct the three-dimensional offset vector and adjust the execution parameters of the layer alignment strategy in real time.

[0068] When the corrected three-dimensional offset vector converges to the offset range, the current state of the transmitter and receiver is locked, an energy transmission channel is established, and the charging process is started.

[0069] Figure 2 This is a flowchart illustrating the method for constructing a spatial coordinate relationship model and calculating a three-dimensional offset vector according to an embodiment of the present invention. Based on the spatial location data, a spatial coordinate relationship model between the receiver and the transmitter is established, and the three-dimensional offset vector of the receiver relative to the transmitter is calculated, including:

[0070] Based on the spatial location data, the phase difference of the induced signal between multiple coil units in the coil array and the receiving coil is extracted to form a phase observation matrix;

[0071] Spatial interpolation is performed on the phase observation matrix to generate a continuous phase field distribution function. The horizontal projection center position of the receiving coil is determined by solving the intersection of the equiphase lines of the continuous phase field distribution function.

[0072] The amplitude difference of the induced signal of each coil unit in the coil array is collected, and the amplitude difference data is correlated and fitted with the planar distance from each coil unit to the projection center position to establish an amplitude distance attenuation characteristic curve. Based on the curvature change rate of the amplitude distance attenuation characteristic curve, the spatial height of the receiving coil relative to the transmitting plane is calculated.

[0073] A three-dimensional position vector of the receiver is constructed using the planar coordinates of the projection center position and the spatial height. The vector difference between the three-dimensional position vector and the origin of the transmitter coordinate system is calculated to obtain the three-dimensional offset vector. The magnitude and orientation angle of the three-dimensional offset vector are used as the state variables of the spatial coordinate relationship model.

[0074] After acquiring the spatial location data of the charging receiver, the discrete induced signal information needs to be converted into a structured spatial coordinate description. The transmitting coil array consists of several coil units arranged according to rules. Each coil unit will generate an induced signal due to mutual inductance coupling after the receiving coil enters the charging area. Since the spatial distance between each coil unit and the receiving coil is different, the corresponding induced signal phases also differ. By extracting the phase difference of the induced signal between each coil unit in the coil array and the receiving coil, and organizing it into a matrix according to the two-dimensional arrangement of the coil units in the array, the phase observation matrix can be obtained. The row and column indices of this matrix correspond to the planar coordinates of the coil units, and the matrix elements are the phase difference measurements of the corresponding coil units, thus completely recording the phase distribution characteristics caused by the receiving end on the horizontal plane.

[0075] The number of data points contained in the phase observation matrix is ​​limited by the physical density of the coil array, resulting in discrete sampling and making it difficult to use directly for precise positioning. Therefore, spatial interpolation is performed on the phase observation matrix to expand the discrete phase data into a continuous phase field distribution function covering the entire charging area. Methods such as bicubic interpolation or radial basis function interpolation can be used during interpolation to restore the true distribution of the phase field as much as possible while ensuring smoothness. After obtaining the continuous phase field distribution function, points with equal phase values ​​in the two-dimensional phase field described by this function form equiphase lines. Since the center of the receiver coil's projection on the horizontal plane is the center of symmetry of the phase field, equiphase lines from different directions will intersect near this center. By solving for the intersection points of multiple equiphase lines in the continuous phase field distribution function and statistically fusing multiple sets of intersection results, the center position of the receiver coil's projection on the horizontal plane in the transmitter's coordinate system can be determined, denoted as . .

[0076] After determining the horizontal projection center, it is necessary to further calculate the spatial height between the receiving coil and the transmitting plane to complete the construction of the three-dimensional coordinates. The calculation of the spatial height relies on the physical law that the amplitude of the induced signal attenuates with distance. The amplitude of the induced signal of each coil unit in the coil array is collected, and the distance from each coil unit to the projection center within the transmitting plane is calculated. planar distance subscript Number the coil units. Compare the amplitude difference data of each coil unit with its corresponding planar distance. Correlation was performed, and a characteristic curve of amplitude attenuation over distance was established through curve fitting. This curve describes the trend of attenuation of the induced amplitude as the planar distance increases, and its shape is affected by the spatial height of the receiving coil. The impact is significant: when When the value is small, the decay curve is steeper and the rate of change of curvature is larger; when... When the value is large, the decay curve tends to be flat, and the rate of change of curvature is small.

[0077] Based on the above patterns, by analyzing the rate of curvature change of the amplitude-distance attenuation characteristic curve, the spatial height of the receiving coil relative to the transmitting plane can be deduced. Specifically, let the curve be at a distance in the plane. The curvature at that point is The rate of change of curvature is defined as the ratio of the curvature difference between adjacent sampling points to the distance difference. Given the geometric parameters of the coil array and the mutual inductance model of the coil units, the relationship between the rate of change of curvature and spatial height can be established. The mapping relationship between them can be obtained through table lookup or numerical solution. The estimated value. This method extends the use of amplitude information from single-point measurement to multi-point joint analysis, effectively improving the stability of the height estimation and reducing the interference of individual coil unit signal anomalies on the results.

[0078] Obtaining the coordinates of the center of the horizontal plane projection With spatial height Then, the three elements are combined to construct the three-dimensional position vector of the receiver. The origin of the transmitter's coordinate system is set at the geometric center of the coil array, denoted as . It is usually defined as the origin of the coordinate system during the initialization phase. 3D offset vector Defined as the vector difference between the three-dimensional position vector of the receiver and the origin of the coordinate system of the transmitter, i.e. The origin of the coordinate system at the transmitting end is fixed at... In this case, Its three components correspond to the horizontal offset, vertical offset, and axial height offset in the horizontal plane, respectively.

[0079] 3D offset vector modulus It reflects the overall spatial distance between the receiver and the transmitter, while the azimuth angle describes the spatial direction of the offset. Together with the orientation angle, these serve as state variables in the spatial coordinate relationship model, providing a complete input description for the subsequent generation of hierarchical alignment strategies. Modulus The magnitude of the magnetic field center's migration is determined by the orientation angle, which in turn determines the priority of the excitation distribution adjustment. In actual charging scenarios, the receiving device is placed in the charging area in any orientation, and the relative magnitudes of the horizontal and vertical offsets vary depending on the scenario. By simultaneously maintaining two state variables—the magnitude and the orientation angle—the spatial coordinate relationship model can adapt to diverse placement conditions, providing a stable benchmark reference for subsequent dynamic corrections.

[0080] When the receiver undergoes displacement or attitude change, the induction signal of the coil array is updated in real time, and the phase observation matrix is ​​refreshed accordingly. The above calculation process is executed cyclically at a fixed period to ensure that the three-dimensional offset vector always reflects the latest spatial state of the receiver. The new three-dimensional offset vector calculated each time is compared with the result of the previous period. If the change exceeds a preset threshold, the parameters of the hierarchical alignment strategy are adjusted to ensure the continuous effectiveness of the alignment state during charging.

[0081] A layered alignment strategy is generated based on the three-dimensional offset vector. This strategy involves adjusting the excitation distribution of the transmitting coil array to migrate the magnetic field center towards the receiving end position, and adjusting the excitation phase and amplitude distribution to match the direction of the synthesized magnetic field with the attitude angle of the receiving coil. This includes:

[0082] The three-dimensional offset vector is decomposed into radial and tangential offset components in the horizontal plane and axial offset components in the vertical direction;

[0083] Based on the radial offset component and the tangential offset component, the offset angle and offset distance of the receiver relative to the geometric center of the coil array of the transmitter are calculated. An excitation weight allocation function is constructed based on the offset angle and the offset distance, and a differentiated excitation current amplitude is assigned to each coil unit so that the excitation current amplitude is distributed in an increasing manner in the offset angle direction and in a decreasing manner in the opposite direction, thereby driving the magnetic field center to migrate toward the receiver position.

[0084] Obtain the attitude angle information of the receiving coil, and calculate the angle between the normal vector of the receiving coil and the normal vector of the transmitting coil array based on the attitude angle information and the axial offset component;

[0085] A phase compensation mapping relationship is established based on the included angle, and a differentiated phase offset is set for the excitation current of each coil unit, so that the magnetic field components generated by each coil unit are combined at the receiving end position into a magnetic field aligned with the normal vector of the receiving end coil;

[0086] The adjusted excitation current amplitude and phase offset of each coil unit are used as the execution parameters of the layered alignment strategy.

[0087] After obtaining the three-dimensional offset vector of the receiver relative to the transmitter, this vector needs to be decomposed according to spatial dimensions to formulate alignment control strategies for offsets in different directions. Specifically, the three-dimensional offset vector is projected onto the plane containing the transmitter coil array to obtain radial and tangential offset components in the horizontal plane; the axial offset component perpendicular to this plane is also retained. The radial offset component describes the displacement of the receiver in the transmitter plane along a principal direction, the tangential offset component describes the lateral displacement perpendicular to the radial direction, and the axial offset component describes the change in the distance between the receiver and transmitter in the height direction. These three components together constitute a complete spatial offset description, corresponding to the subsequent alignment tasks at two levels: magnetic field center migration control and magnetic field direction matching control.

[0088] Based on the radial and tangential offset components, the offset angle and offset distance of the receiver's projection center relative to the geometric center of the coil array can be determined in the planar coordinate system of the transmitter coil array. Let the offset angle be... The offset distance is ,in It is determined by the arctangent relationship between the radial offset component and the tangential offset component. It is obtained by taking the square root of the sum of the squares of the two components, i.e. ,in For radial offset component, This is the tangential offset component. Offset angle. and offset distance Together they indicate the direction and magnitude of the magnetic field center's migration.

[0089] Based on offset angle With offset distance An excitation weight allocation function is constructed to assign differentiated excitation current amplitudes to each coil element in the coil array. The core idea of ​​the excitation weight allocation function is: located at the offset angle The coil unit on one side of the direction receives a larger excitation current amplitude, while the coil unit on the opposite side receives a smaller excitation current amplitude, thus causing the center of the combined magnetic field generated by the entire coil array to shift towards the receiving end's projection position in the horizontal plane. Let the first... The coordinates of the center position of each coil unit in the transmitter plane coordinate system are: The azimuth angle of this coil unit relative to the geometric center of the coil array is Then the excitation weight of the coil unit It can be determined by the offset angle. Offset distance and azimuth To be determined jointly, specifically expressed as ,in Based on the weights, This is the weighting adjustment coefficient. This ensures that the coil element weight is maximized in the offset angle direction and minimized in the opposite direction, thereby driving the magnetic field center to migrate towards the receiving end. In practical applications, and The value of needs to be calibrated according to the physical structure parameters and operating frequency of the coil array to ensure that the excitation current amplitude of each coil unit does not exceed the rated range of the power drive device.

[0090] After completing the horizontal magnetic field center migration control, magnetic field direction matching is required based on the attitude angle of the receiving coil. The attitude angle information of the receiving coil can be obtained through an attitude sensor built into the receiver (such as a triaxial accelerometer or gyroscope), or indirectly calculated by analyzing the characteristics of the induced signal fed back from the receiver. Attitude angle information is usually expressed in Euler angles or quaternions, describing the spatial orientation of the receiving coil's normal vector relative to the standard reference coordinate system. Based on the attitude angle information, the normal vector of the receiving coil can be determined. The orientation is represented in the transmitter coordinate system. The receiver coil normal vector is calculated by combining the height information reflected by the axial offset component. With the normal vector of the transmitting coil array The angle between ,in Typically, it is a unit vector perpendicular to the plane of the transmitter, with an included angle. It is determined by the dot product relationship of the two vectors, that is... When the receiving coil is parallel to the transmitting plane, When the receiving coil is tilted, If the direction of the combined magnetic field generated by the transmitting coil array is still perpendicular to the transmitting plane, it will form an angle with the normal vector of the receiving coil, resulting in a decrease in coupling efficiency.

[0091] To eliminate the included angle The impact on coupling efficiency, based on the included angle A phase compensation mapping relationship is established to set differentiated phase offsets for the excitation current of each coil unit. The basis for establishing the phase compensation mapping relationship is that by controlling the phase distribution of the excitation current of each coil unit, the magnetic field components generated by each coil unit at the receiving end position are superimposed to form a direction perpendicular to the normal vector of the receiving coil. Aligned composite magnetic field. Let the first... The phase offset of the excitation current of each coil unit is Its value is determined by the included angle. Spatial position of coil unit The location is determined jointly by the receiver's three-dimensional position. Specifically, The calculation needs to consider the first... The spatial propagation path difference from each coil unit to the receiving end position, and the normal vector of the receiving end coil. The projected component in this propagation direction ensures the phase consistency of the magnetic field components generated by each coil unit at the receiving end, achieving coherent superposition and forming a directional... The resultant magnetic field in the direction. When When it is small, the phase offset The differences are small, and the excitation currents of each coil unit are nearly in phase; when When the value is large, the difference in phase offset between each coil unit increases, so as to achieve a larger angle of magnetic field direction deflection.

[0092] In waterproof socket applications, the transmitting coil array is typically encapsulated within a waterproof housing, while the receiving device is placed in the charging area in any orientation. In this case, the normal vector of the receiving coil will have a significant angle with the normal vector of the transmitting plane. Simply relying on the migration of the magnetic field center cannot guarantee charging efficiency; magnetic field direction matching is necessary simultaneously. Through the aforementioned phase compensation mapping relationship, even if the receiving coil is tilted, the direction of the synthesized magnetic field can be adjusted to follow the normal vector of the receiving coil, thereby maintaining high electromagnetic coupling efficiency over a wide range of orientation angles.

[0093] After adjustment, the excitation current amplitude of each coil unit (determined by the excitation weight) is... (Determined) and phase offset These parameters, used together as execution parameters for the layered alignment strategy, are written into the power drive control unit at the transmitter, driving each coil unit to output excitation current according to its corresponding amplitude and phase. Subsequent real-time acquisition of coupling voltage waveform data will be used to verify the alignment effect, and the above execution parameters will be dynamically corrected after the introduction of a waterproof dielectric layer compensation factor, forming a closed-loop alignment control process. The layered alignment strategy decouples the horizontal magnetic field center migration control from the magnetic field direction matching control, reducing the control complexity of multi-dimensional synchronous adjustments and making the alignment process more stable and convergent faster.

[0094] A phase compensation mapping relationship is established based on the included angle, and a differentiated phase offset is set for the excitation current of each coil unit, so that the magnetic field components generated by each coil unit are synthesized at the receiving end position into a magnetic field aligned with the normal vector of the receiving end coil, including:

[0095] Based on the principle of magnetic field vector rotation, a functional relationship is established between the included angle and the phase distribution of the coil array. The functional relationship describes the phase configuration rule required to rotate the direction of the synthesized magnetic field to align with the normal vector of the receiving coil. Based on the functional relationship, a phase compensation mapping relationship is constructed, and the included angle is mapped to the phase compensation coefficient corresponding to each coil unit.

[0096] The reference phase offset of each coil unit is calculated using the phase compensation coefficient, and the spatial coordinate information of each coil unit in the transmitting coil array is obtained. The spatial distance between each coil unit and the receiving coil is calculated based on the spatial coordinate information.

[0097] The propagation phase delay caused by the magnetic field propagating to the receiving end position is calculated based on the spatial distance. The propagation phase delay is then superimposed with the reference phase offset to obtain the comprehensive phase offset of each coil unit.

[0098] The phase of the excitation current of each coil unit is adjusted according to the comprehensive phase offset, so that the magnetic field components generated by each coil unit are vector synthesized according to the preset relative phase relationship when they reach the receiving end position, generating a synthetic magnetic field with the direction consistent with the normal vector of the receiving end coil.

[0099] Determine the normal vector of the receiving coil With the normal vector of the transmitting coil array The angle between Next, this included angle information needs to be converted into phase configuration parameters that can directly affect the excitation current of each coil unit. The core idea is to control the phase distribution of the excitation current in each unit of the coil array so that when the magnetic field components generated by each unit are vector-superimposed at the receiving end's spatial location, the direction of the resulting magnetic field is exactly aligned with the normal vector of the receiving coil. Alignment maximizes the effective component of magnetic flux passing through the receiving coil, thereby improving energy coupling efficiency.

[0100] According to the principle of magnetic field vector rotation, when multiple coil units are excited with different phases, the magnetic field components generated by each unit at a target point in space can be vector-synthesized in both time and space dimensions. If we want the synthesized magnetic field direction to be from the normal vector of the transmitting coil array... The pointed direction is rotated to the normal vector of the receiving coil. The indicated direction requires introducing a linear phase gradient distribution along a specific direction within the coil array plane. Specifically, with an included angle... With the plane in question as a reference, Mapped to phase compensation coefficients This coefficient describes the amount of phase modulation required per unit spatial angle deflection. The phase compensation mapping relationship can be expressed as: ,in This is a monotonic function derived based on the principle of magnetic field vector rotation, reflecting the included angle. The correspondence between the desired phase modulation depth and the actual phase modulation depth. When smaller, Approximate and Linearly proportional; when When the magnitude is large, a nonlinear correction term needs to be introduced to ensure accurate alignment of the synthesized magnetic field direction. Through this mapping relationship, the attitude deviation information is directly converted into quantifiable phase compensation coefficients, providing input basis for the subsequent calculation of the reference phase offset of each coil unit.

[0101] Using phase compensation coefficient , can calculate the first Reference phase offset of each coil unit During the calculation, the origin is taken as the geometric center of the coil array, and the result is obtained as follows: The x-coordinate of the center of each coil unit in the transmitting end plane coordinate system and the vertical axis And according to the normal vector of the receiving coil The projection direction within the transmitting plane determines the phase gradient application direction. The coordinate components of each coil element are projected along this direction to obtain the... The projected length of each coil element in the phase gradient direction This leads to the determination of the reference phase offset. This calculation method ensures that coil elements farther from the center of the phase gradient receive a larger reference phase offset, thereby forming a continuous phase slope distribution in the coil array plane, driving the required spatial rotation of the synthetic magnetic field direction.

[0102] After obtaining the reference phase offset, it is also necessary to consider the propagation phase delay introduced by the spatial distance difference between each coil unit and the receiving coil. Since the spatial distance from different coil units to the receiving end is not the same, the phase accumulation experienced by the electromagnetic wave propagating from each unit to the receiving end also differs. Let the... The center coordinates of each coil unit are The receiver's location coordinates are Then the first The spatial distance between each coil unit and the receiver for: Based on spatial distance Propagation phase delay This can be expressed as: ,in This represents the equivalent wavelength of the electromagnetic wave corresponding to the operating frequency. It should be noted that in waterproof wireless charging scenarios, the operating frequency is typically in the low to mid-frequency range, and the electromagnetic wave wavelength is much larger than the physical distance between the coil array and the receiver, thus causing a propagation phase delay. While the differences between units are relatively limited in magnitude, they still need to be included in the calculations to avoid systematic deviations in the direction of the synthesized magnetic field due to neglecting this factor.

[0103] Delay the propagation phase Phase offset from reference Perform the superposition operation to obtain the first... The combined phase offset of each coil unit : Overall phase offset It simultaneously includes the phase modulation component required for attitude alignment and the compensation component caused by differences in the spatial propagation path, representing the complete phase control quantity ultimately applied to the excitation current of each coil unit. In actual execution, this is achieved through digital control circuitry or a programmable phase modulator. Load precisely to the number On the drive signal of each coil unit, ensure that the phase of the excitation current of each unit strictly follows the calculation results.

[0104] After the phase of the excitation current of each coil unit is adjusted, the magnetic field components generated by each unit at the receiving end will be vector-synthesized according to a preset relative phase relationship. Since the phase distribution has been precisely designed, the vector superposition of each component at the receiving end will form a direction parallel to the normal vector of the receiving coil. A highly consistent composite magnetic field. The composite magnetic field and... The alignment between the two elements directly determines the magnitude of the effective magnetic flux passing through the receiving coil, thus affecting the induced electromotive force and energy transfer efficiency. When the direction of the synthesized magnetic field is aligned with... When fully aligned, the magnetic flux passes through the largest cross-sectional area of ​​the receiving coil, and the energy coupling coefficient reaches its optimal state.

[0105] In waterproof socket applications, the receiving device can be placed in any orientation within the charging area, at any angle. The range of values ​​for is relatively wide. Regarding In larger cases, the phase compensation coefficient When the value is large, the phase difference between each coil unit is also significant. In this case, it is necessary to verify the phase modulation range of the excitation circuit to ensure the overall phase offset of all coil units. All are within the phase control range achievable by the excitation circuit. If some coil units... If the adjustment exceeds the adjustable range, the phase compensation mapping function needs to be adjusted. Perform segmented processing, or apply excitation weights to the coil array. Joint optimization is performed to approximate the ideal synthetic magnetic field direction as closely as possible under conditions of limited phase modulation capability. Through the above complete phase compensation process, the transmitter coil array can adaptively respond to the attitude changes of the receiver, achieving dynamic alignment of the magnetic field direction in three-dimensional space, and providing reliable magnetic field coupling conditions for the stable establishment of subsequent energy transmission channels.

[0106] The layered alignment strategy is executed, and the coupling voltage waveform data between the transmitter and receiver is acquired in real time. The frequency domain decomposition of the coupling voltage waveform data is then performed to obtain the harmonic component distribution, including:

[0107] During the execution of the hierarchical alignment strategy, a real-time monitoring channel for coupling voltage is established. Coupling voltage waveform data is synchronously collected according to the adjustment rhythm of the hierarchical alignment strategy. The coupling voltage waveform data includes voltage amplitude sequences for multiple time periods before and after alignment adjustment. The voltage amplitude sequences are divided into sliding time windows, and each time window covers at least one complete operating frequency cycle.

[0108] The voltage amplitude sequence within each time window is transformed in the frequency domain, and the frequency domain spectral data corresponding to each time window is extracted. The frequency domain spectral data of different time windows are arranged in chronological order to construct a time-frequency matrix. The row dimension of the time-frequency matrix represents the time evolution, the column dimension represents the frequency component, and the matrix element value represents the energy intensity.

[0109] Peak search is performed on the time-frequency matrix along the frequency dimension to lock the fundamental frequency position and the positions of each harmonic frequency, and the energy evolution trajectory at each harmonic frequency position is extracted along the time dimension.

[0110] The average energy percentage and energy fluctuation amplitude of each harmonic component are statistically analyzed, and the harmonic component distribution is generated by combining the trend characteristics of the energy evolution trajectory.

[0111] During the execution of the hierarchical alignment strategy, a real-time monitoring channel for the coupling voltage needs to be established synchronously to ensure that the acquired voltage waveform data can accurately reflect the dynamic changes in the electromagnetic coupling state between the transmitter and receiver. The establishment of the monitoring channel relies on a voltage sampling circuit installed at the receiver. This circuit continuously discretizes the induced voltage at the receiver at a sampling rate at least 10 times higher than the operating frequency, ensuring the temporal integrity of the waveform data. The sampling trigger signal is synchronized with the adjustment command of the hierarchical alignment strategy. Whenever the excitation distribution of the transmitter coil array is adjusted, the monitoring channel records a steady-state voltage amplitude sequence before and after that adjustment moment. This results in the acquired coupling voltage waveform data containing multiple time periods before and after alignment adjustments, which together constitute a complete set of voltage amplitude sequences.

[0112] When segmenting the voltage amplitude sequence using a sliding time window, the length of the time window is set to cover at least one complete operating frequency cycle to ensure that the data within each time window contains sufficient periodic information for subsequent frequency domain analysis. Let the operating frequency be... The time length corresponding to a single complete cycle is Time window length satisfy In practical applications, to balance frequency and time resolution, the time window length is usually taken as an integer multiple of the operating frequency period, for example, taking... ,in It is a positive integer. The value of is determined based on a combination of signal stability and computational resources. A certain percentage of overlap is set between adjacent time windows, typically between 50% and 75%, to reduce energy leakage at window boundaries and ensure continuity in the time dimension.

[0113] When performing frequency domain transformation on the voltage amplitude sequence within each time window, the discrete Fourier transform is used to map the time domain sequence to the frequency domain, obtaining the complex spectral data corresponding to each time window. Modulo operation is then performed to obtain the frequency domain amplitude spectrum. Let the first... The frequency domain amplitude spectrum corresponding to each time window is ,in Represents frequency variables. Number the time windows. Arrange the frequency domain amplitude spectra of all time windows in chronological order to construct a time-frequency matrix. The row dimensions of the matrix correspond to the time window numbers. The column dimensions correspond to discrete frequency points, and the matrix element values... Indicates the first The time window in the first The energy intensity at each frequency point, i.e. ,in For the first Discrete frequency points, The frequency points are numbered. The time-frequency matrix simultaneously presents the frequency composition and time evolution information of the coupled voltage signal, providing a structured data foundation for subsequent extraction and analysis of harmonic components.

[0114] When performing a peak search along the frequency dimension of the time-frequency matrix, for each row (i.e., each time window), the frequency domain amplitude spectrum is calculated at the fundamental frequency. A search window is set up nearby to identify the location of the baseband peak, and the baseband is used as a reference to... , The harmonic peak positions are searched sequentially near each harmonic frequency. Considering that the actual operating frequency may drift slightly due to load variations or tuning errors, the search window width is set to a certain percentage of the nominal fundamental frequency value to accommodate the frequency drift range. After locking the fundamental frequency position and the positions of each harmonic frequency, the energy evolution trajectory at each harmonic frequency position is extracted along the time dimension; that is, the corresponding column vector is extracted from the time-frequency matrix to obtain the sequence of energy changes of each harmonic component over time. Let the th harmonic be... The energy evolution trajectory of the subharmonic is a vector. ,in For harmonic order, Corresponding to the base frequency, These correspond to the second, third, and other higher harmonics, respectively.

[0115] When calculating the average energy percentage of each harmonic component, the energy evolution trajectory vector of each harmonic is... The average energy of this harmonic is obtained by calculating the mean over the time dimension. Calculate the total average energy. Let be the sum of the average energies of all subharmonics, then the th The average energy proportion of subharmonics The amplitude of energy fluctuations is calculated by determining the standard deviation of the energy evolution trajectory of each harmonic. To characterize, This reflects the stability of the energy of the harmonic during the alignment adjustment process: if A relatively large value indicates that the harmonic energy fluctuates significantly with changes in alignment state, demonstrating strong alignment state sensitivity; if A smaller value indicates that the harmonic energy is relatively stable and less affected by alignment adjustments.

[0116] Trend feature extraction of energy evolution trajectory by analyzing Linear regression analysis was performed to fit the slope of the energy change over time. A positive slope indicates that the energy of that harmonic is increasing during alignment adjustment, a negative slope indicates a decreasing trend, and a slope close to zero indicates that the energy remains stable. The average energy percentage of each harmonic is considered. Energy fluctuation amplitude and trend slope Three types of features are used to generate a harmonic component distribution description vector. This description vector comprehensively depicts the energy distribution pattern and dynamic evolution law of each harmonic in the current alignment state, providing a quantitative basis for subsequent identification of the influence characteristics of the waterproof medium layer on the electromagnetic field transmission path.

[0117] In waterproof socket applications, the presence of the waterproof dielectric layer has a specific frequency-selective effect on the electromagnetic field transmission path, resulting in a systematic difference in the attenuation of higher harmonic components compared to the case without a dielectric layer. By comparing the harmonic component distributions at different alignment adjustment stages, the additional attenuation characteristics introduced by the dielectric layer can be identified. These characteristics can then be incorporated as compensation factors into the spatial coordinate relationship model to achieve dynamic correction of the three-dimensional offset vector. The generation process of the harmonic component distribution adopts a sliding update mechanism. As new time window data is continuously added, the time-frequency matrix expands in real time, and various statistics are continuously refreshed, ensuring that the harmonic component distribution always reflects the latest coupling state and supports the real-time adjustment of the execution parameters of the layered alignment strategy.

[0118] Based on the harmonic component distribution, the influence characteristics of the waterproof dielectric layer on the electromagnetic field transmission path are identified. These influence characteristics are then introduced as compensation factors into the spatial coordinate relationship model to dynamically correct the three-dimensional offset vector and adjust the execution parameters of the layered alignment strategy in real time, including:

[0119] The energy evolution trajectory in the harmonic component distribution is correlated with the spatial position change during the execution of the layered alignment strategy. The harmonic energy distribution at each moment is mapped to the corresponding three-dimensional spatial coordinate point, and the spatial gradient is calculated to obtain the harmonic gradient tensor. Each component of the harmonic gradient tensor characterizes the anisotropic influence of the waterproof medium layer on the electromagnetic field transmission in different spatial directions.

[0120] Principal component decomposition is performed on the harmonic gradient tensor to extract the eigenvalues ​​corresponding to the main influence direction and the secondary influence direction, and the eigenvalues ​​are mapped to the equivalent thickness parameter and the equivalent dielectric constant parameter of the dielectric layer.

[0121] A compensation factor matrix is ​​constructed based on the equivalent thickness parameter and the equivalent dielectric constant parameter. Each element of the compensation factor matrix corresponds to the correction weight of the three-dimensional coordinate axis direction in the spatial coordinate relationship model. The compensation factor matrix and the coordinate transformation matrix of the spatial coordinate relationship model are multiplied to obtain the correction coordinate transformation matrix.

[0122] The three-dimensional offset vector is recalculated using the corrected coordinate transformation matrix, and the difference in the three-dimensional offset vector is calculated. The execution parameters of each level in the layered alignment strategy are adjusted according to the direction and magnitude of the difference.

[0123] After obtaining the harmonic component distribution, it is necessary to establish a correlation between the energy evolution trajectory of each harmonic and the spatial position changes during the execution of the hierarchical alignment strategy. Specifically, during the execution of the hierarchical alignment strategy, the excitation parameters of the transmitter coil array are adjusted with each time step, and each adjustment corresponds to a specific spatial coordinate point of the receiver within the charging region. The harmonic energy distribution values ​​collected at each moment are bound to the corresponding three-dimensional spatial coordinate point to form a joint dataset of harmonic energy and spatial coordinates. Partial derivatives are calculated along the three coordinate axes of this joint dataset to obtain the gradient distribution of harmonic energy in space, and the gradient vectors of each harmonic are organized into tensor form, namely the harmonic gradient tensor. Each component of the harmonic gradient tensor directly characterizes the anisotropic influence of the waterproof dielectric layer on the transmission of electromagnetic fields in different spatial directions: if the gradient component in one direction is significantly larger than in other directions, it indicates that the dielectric layer has a more prominent hindering or phase distortion effect on the electromagnetic field in that direction.

[0124] Let the harmonic gradient tensor be... Its dimensions are ,in This represents the total number of harmonic orders involved in the calculation. The Column corresponding to the first The energy gradient components of the subharmonic along the three-dimensional coordinate axes are denoted as follows: ,in , , The first Subharmonic energy in , , The partial derivatives along the axial direction are estimated. By performing finite difference calculations on the ratio of the harmonic energy difference to the coordinate difference between adjacent coordinate points in the joint dataset, the aforementioned partial derivatives can be stably estimated, thus fully constructing the harmonic gradient tensor. .

[0125] harmonic gradient tensor Perform principal component decomposition, that is, perform... Perform eigenvalue decomposition and extract the largest eigenvalue. and its corresponding eigenvectors (Main influence direction), and the second largest eigenvalue. and its corresponding eigenvectors (Secondary direction of influence). Primary direction of influence. This indicates the spatial direction in which the waterproof medium layer has the strongest influence on electromagnetic field transmission, and the secondary direction of influence. This indicates the direction of the second strongest influence. The magnitude of the eigenvalue directly reflects the degree of disturbance of the electromagnetic field propagation path by the dielectric layer in the corresponding direction.

[0126] eigenvalues and This is mapped to the equivalent thickness parameter and the equivalent dielectric constant parameter of the dielectric layer. Equivalent thickness parameter Through principal eigenvalues The values ​​were obtained by interpolation with a pre-calibrated thickness-gradient response curve, which was established through offline experiments on waterproof media layer samples of different thicknesses before shipment. This calibration curve reflects the typical distribution law of the gradient characteristic values ​​in the principal direction under different media thicknesses. Equivalent dielectric constant parameter. Then through the ratio of eigenvalues The result is obtained by interpolation with the calibrated dielectric constant-gradient ratio response curve, which was also established offline based on experimental data of materials with different dielectric constants. The above mapping process transforms physically immeasurable dielectric layer parameters into quantifiable equivalent parameters, providing a numerical basis for subsequent compensation calculations.

[0127] Based on equivalent thickness parameters With equivalent dielectric constant parameter Construct the compensation factor matrix . for A diagonal matrix whose three diagonal elements , , In the corresponding spatial coordinate relationship model , , Correction weights for the three coordinate axes. Each correction weight is calculated based on the equivalent electromagnetic path extension of the dielectric layer along the corresponding coordinate axis: in the main influence direction... Above, the path extension is proportional to ; in the direction of secondary influence The path extension is reduced proportionally. The path extensions in the primary and secondary influence directions are projected onto the three coordinate axes, and then superimposed to obtain the correction weights for each axis. , , When the dielectric layer is homogeneous and isotropic, the three correction weights tend to be equal; when the dielectric layer has anisotropic characteristics, the three correction weights show significant differences, thus achieving directional compensation during coordinate transformation.

[0128] compensation factor matrix The original coordinate transformation matrix of the spatial coordinate relationship model Perform matrix multiplication to obtain the corrected coordinate transformation matrix. Correcting the coordinate transformation matrix Based on the original geometric coordinate transformation, the anisotropic influence of the dielectric layer on the electromagnetic field transmission path is superimposed, so that the three-dimensional offset vector calculated based on this matrix can accurately reflect the true spatial position of the receiver under the condition of the presence of the dielectric layer.

[0129] Using the corrected coordinate transformation matrix The 3D offset vector is recalculated to obtain the corrected 3D offset vector. .Will Compared with the three-dimensional offset vector obtained in the previous calculation By subtracting, we obtain the difference. Difference The direction represents the spatial direction in which the hierarchical alignment strategy needs to be modified. modulus This represents the magnitude of the correction. When When the value is large, it indicates that the medium layer has a significant impact on the current alignment state, requiring substantial adjustments to the execution parameters of each layer in the layered alignment strategy; when When the value is small, it indicates that the influence of the dielectric layer has been fully compensated, and only minor adjustments are needed.

[0130] According to the difference The direction and magnitude are adjusted to modify the execution parameters of the horizontal position alignment layer and the attitude angle alignment layer in the layered alignment strategy, respectively. For the horizontal position alignment layer, the following steps are taken: The projection component in the transmitter plane is used as a correction input for the excitation weight allocation, causing the magnetic field center to migrate further along the correction direction; for the attitude angle alignment layer, The component along the height axis serves as a correction input for the excitation phase gradient, enabling a more precise match between the synthesized magnetic field direction and the receiver coil attitude angle. This adjustment is iterated once per control cycle; as the number of iterations increases, the corrected three-dimensional offset vector gradually converges, and the difference... The modulus continues to decrease until the convergence criterion is met, thus completing the dynamic correction process.

[0131] The entire compensation process forms a closed loop: changes in the distribution of harmonic components trigger the recalculation of the harmonic gradient tensor, which in turn updates the compensation factor matrix and the corrected coordinate transformation matrix, ultimately reflecting in the correction results of the three-dimensional offset vector and the real-time adjustment of the layered alignment strategy execution parameters. This closed-loop mechanism enables the system to adaptively maintain alignment accuracy when the material, thickness, or position of the waterproof medium layer changes, ensuring that the transmitter and receiver are in optimal coupling when the energy transmission channel is established.

[0132] The energy evolution trajectory in the harmonic component distribution is correlated with the spatial position changes during the execution of the hierarchical alignment strategy. The harmonic energy distribution at each moment is mapped to the corresponding three-dimensional spatial coordinate points, and the spatial gradient is calculated to obtain the harmonic gradient tensor, including:

[0133] The time axis of the energy evolution trajectory in the harmonic component distribution is parameterized as the execution step sequence of the hierarchical alignment strategy. The three-dimensional spatial coordinate point at the corresponding moment is calculated by accumulating the movement vector of each execution step. The movement vector is determined by the direction and step size of the alignment adjustment at each level.

[0134] The energy values ​​of each harmonic frequency component are projected onto the corresponding three-dimensional spatial coordinate points to form a three-dimensional energy distribution with spatial coordinates as the independent variable and harmonic energy as the dependent variable.

[0135] Gradient operator operations are performed on the three-dimensional energy distribution, and directional derivatives are calculated along each coordinate axis of the three-dimensional coordinate system. The directional derivatives along each coordinate axis constitute a harmonic gradient vector, and the direction of the harmonic gradient vector points to the spatial direction where the harmonic energy grows the fastest.

[0136] For each harmonic frequency component, the corresponding harmonic gradient vector is calculated. The harmonic gradient vectors of all harmonic frequency components are organized into a harmonic gradient tensor according to the frequency dimension and the spatial dimension. The frequency dimension indexes each harmonic, and the spatial dimension indexes the direction of the three-dimensional coordinate axis. The tensor element values ​​quantify the influence intensity of the waterproof medium layer on the transmission of electromagnetic field energy at a specific frequency and in a specific spatial direction.

[0137] During the execution of the hierarchical alignment strategy, each execution step corresponds to an adjustment of the excitation distribution of the transmitter coil array, accompanied by a change in the relative position of the receiver within the charging region. To transform the temporal evolution information of harmonic energy into spatially meaningful distribution data, the time axis of the energy evolution trajectory in the harmonic component distribution needs to be parameterized as the execution step sequence of the hierarchical alignment strategy. Specifically, the hierarchical alignment strategy is executed sequentially in the order of horizontal offset correction, altitude adjustment, and attitude angle compensation. Each level is further subdivided into several discrete steps, and each step corresponds to an update operation of the excitation parameters. A one-to-one mapping relationship is established between the sampling time on the time axis and the step number in the step sequence, so that the harmonic energy sampling value at each moment can correspond to a specific step number.

[0138] For each step in the step sequence, its corresponding movement vector is determined by the alignment adjustment direction and step size of the level to which that step belongs. The movement vector of the horizontal offset correction level lies in the transmitter plane, pointing towards the offset direction of the receiver projection center relative to the geometric center of the coil array, and the step size is determined by the product of the current offset distance and the preset step size scaling factor; the movement vector of the height adjustment level is along the normal direction perpendicular to the transmitter plane, and the step size is determined by the current height estimation error and the adjustment coefficient; the movement vector of the attitude angle compensation level represents the rotation adjustment of the receiver coil normal vector in three-dimensional space, which is converted to the three-dimensional coordinate system in the form of equivalent displacement. The movement vectors of each step are accumulated sequentially from the initial position to obtain the estimated coordinate point of the receiver in three-dimensional space at the end of each step. Let the step number be... The corresponding three-dimensional spatial coordinates are denoted as ,but From the initial reference position and the previous The result of the vector accumulation of each step movement vector is determined together, thus completing the parametric transformation from the time axis to the spatial coordinate axis.

[0139] After parameterizing the time axis, the energy values ​​of each harmonic frequency component are projected onto the corresponding three-dimensional spatial coordinate points. For the th The second harmonic, in the step numbering The energy value at that location is denoted as The corresponding three-dimensional space coordinates are Using three-dimensional spatial coordinates With harmonic energy as the dependent variable and all step sizes as the independent variable, the total harmonic energy is used to determine the independent variable. Data pairs constitute the first The three-dimensional energy distribution of subharmonics. Since the sampling point trajectories formed by the step sequence in three-dimensional space are usually irregularly distributed, spatial interpolation processing is required to map the irregularly distributed discrete energy values ​​onto regular three-dimensional grid nodes, forming a continuously differentiable three-dimensional energy field function. Interpolation methods such as radial basis function interpolation or kriging interpolation can be used to ensure the smoothness and physical rationality of the interpolation results in sparse regions of the sampling points.

[0140] For three-dimensional energy field function Perform gradient operator operations along the three-dimensional coordinate system. axis, axis, The directional derivatives are calculated along each axis. Under discrete data conditions, the directional derivatives are calculated using a finite difference approximation. Assume the three-dimensional mesh is in... , , The grid spacing in the directions are respectively , , Then the first Subharmonic energy at spatial coordinates along The directional derivative in the axial direction is approximately: ,along shaft and The directional derivatives along the three coordinate axes are calculated in the same way. Combining the directional derivatives along the three coordinate axes forms a three-dimensional vector, thus constituting the... The harmonic gradient vector of the subharmonic at this spatial coordinate point Its direction points to the first The spatial direction in which the subharmonic energy grows fastest near a point, and the magnitude reflects the rate of energy growth. In actual calculations, the weighted average of the harmonic gradient vectors at all effective grid nodes in the entire charging region is taken as the representative gradient vector of that subharmonic. The weights are determined by the absolute energy value at the corresponding grid node. Regions with stronger energy contribute more weight to the gradient vector, thus making the representative gradient vector more reflective of the transmission characteristics of the main energy concentration area.

[0141] For all subharmonic frequency components involved in the analysis of the harmonic component distribution, their corresponding harmonic gradient vectors are calculated according to the above procedure. Each harmonic corresponds to a three-dimensional gradient vector. The gradient vectors of different subharmonics usually differ in direction and magnitude. This difference reflects the selective attenuation and phase distortion characteristics of the waterproof dielectric layer for electromagnetic field components of different frequencies in different spatial directions. The harmonic gradient vectors of all subharmonics are organized according to the frequency dimension and the spatial dimension, with the frequency dimension based on the harmonic order. Using the three-dimensional coordinate axes as indices, the spatial dimensions form the harmonic gradient tensor. Its dimensions are ,in This represents the total number of harmonic orders involved in the calculation. The tensor's [number]th [harmonic order]. Column corresponding to the first Gradient vector of subharmonic Its three row elements are respectively , , Quantify the first Subharmonic energy in axis, axis, The partial derivative estimates along the axial direction are used to quantify the influence of the waterproof medium layer on the transmission of electromagnetic field energy at a specific frequency and in a specific spatial direction as tensor element values.

[0142] In constructing the harmonic gradient tensor, special attention must be paid to the impact of the spatial coverage of the step sequence on the accuracy of gradient calculation. If the displacement of the receiver in a certain coordinate axis direction is too small during the execution of the layered alignment strategy, the estimation error of the directional derivative in that direction will be large, and the reliability of the corresponding tensor column elements will decrease. Therefore, in the step design of the layered alignment strategy, it should be ensured that the adjustment step size of each level is sufficient to cover the spatial resolution requirements required for the feature analysis of the dielectric layer. Typically, the total displacement coverage in the horizontal plane should not be less than 1 / 4 of the coil element spacing, and the adjustment range in the vertical direction should not be less than 1 / 2 of the estimated thickness of the dielectric layer. When the displacement coverage in a certain direction is insufficient, the sampling data in that direction can be supplemented by introducing auxiliary perturbation stepping. Auxiliary perturbation stepping applies a small reciprocating perturbation in the target direction without affecting the overall alignment process, thereby obtaining the energy difference data required for gradient estimation in that direction.

[0143] After the harmonic gradient tensor is constructed, it is passed to the subsequent principal component decomposition and compensation factor matrix calculation process to extract the equivalent physical parameters of the waterproof medium layer and correct the spatial coordinate relationship model, thereby realizing dynamic compensation for the three-dimensional offset vector and ultimately improving the alignment accuracy and charging efficiency in the wireless charging scenario of the waterproof socket.

[0144] A second aspect of the present invention provides a waterproof socket wireless charging smart alignment system, comprising:

[0145] The location data unit is used to acquire the spatial location data of the charging receiver within the charging area of ​​the waterproof socket. The spatial location data is characterized by the phase difference and amplitude difference of the coil array sensing signal.

[0146] The modeling offset unit is used to establish a spatial coordinate relationship model between the receiver and the transmitter based on the spatial location data, and to calculate the three-dimensional offset vector of the receiver relative to the transmitter.

[0147] The layered alignment unit is used to generate a layered alignment strategy based on the three-dimensional offset vector, realize the migration of the magnetic field center to the receiving end position by adjusting the excitation distribution of the transmitting end coil array, and make the direction of the synthesized magnetic field match the attitude angle of the receiving end coil by adjusting the excitation phase and amplitude distribution.

[0148] The frequency domain decomposition unit is used to execute the hierarchical alignment strategy and collect the coupling voltage waveform data between the transmitter and receiver in real time, and perform frequency domain decomposition on the coupling voltage waveform data to obtain the harmonic component distribution.

[0149] The compensation and correction unit is used to identify the influence characteristics of the waterproof medium layer on the electromagnetic field transmission path based on the harmonic component distribution, introduce the influence characteristics as a compensation factor into the spatial coordinate relationship model, dynamically correct the three-dimensional offset vector, and adjust the execution parameters of the layer alignment strategy in real time.

[0150] The locking charging unit is used to lock the current state of the transmitter and receiver when the corrected three-dimensional offset vector converges to the offset range, establish an energy transmission channel and start the charging process.

[0151] A third aspect of the present invention provides an electronic device, comprising:

[0152] processor;

[0153] Memory used to store processor-executable instructions;

[0154] The processor is configured to invoke instructions stored in the memory to execute the aforementioned method.

[0155] A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the aforementioned method.

[0156] This invention can be a method, apparatus, system, and / or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of the invention.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 invention.

Claims

1. A smart alignment method for wireless charging in a waterproof socket, characterized in that, include: Acquire spatial position data of the charging receiver within the charging area of ​​the waterproof socket, wherein the spatial position data is characterized by the phase difference and amplitude difference of the coil array induction signal; Based on the spatial location data, a spatial coordinate relationship model between the receiver and the transmitter is established, and the three-dimensional offset vector of the receiver relative to the transmitter is calculated. A layered alignment strategy is generated based on the three-dimensional offset vector. The magnetic field center is moved to the receiving end position by adjusting the excitation distribution of the transmitting end coil array. The direction of the synthesized magnetic field is matched with the attitude angle of the receiving end coil by adjusting the excitation phase and amplitude distribution. The layered alignment strategy is executed and the coupling voltage waveform data between the transmitter and receiver is collected in real time. The frequency domain decomposition of the coupling voltage waveform data is performed to obtain the harmonic component distribution. Based on the harmonic component distribution, the influence characteristics of the waterproof dielectric layer on the electromagnetic field transmission path are identified. These influence characteristics are then introduced as compensation factors into the spatial coordinate relationship model to dynamically correct the three-dimensional offset vector and adjust the execution parameters of the layered alignment strategy in real time, including: The energy evolution trajectory in the harmonic component distribution is correlated with the spatial position change during the execution of the layered alignment strategy. The harmonic energy distribution at each moment is mapped to the corresponding three-dimensional spatial coordinate point, and the spatial gradient is calculated to obtain the harmonic gradient tensor. Each component of the harmonic gradient tensor characterizes the anisotropic influence of the waterproof medium layer on the electromagnetic field transmission in different spatial directions. Principal component decomposition is performed on the harmonic gradient tensor to extract the eigenvalues ​​corresponding to the main influence direction and the secondary influence direction, and the eigenvalues ​​are mapped to the equivalent thickness parameter and the equivalent dielectric constant parameter of the dielectric layer. A compensation factor matrix is ​​constructed based on the equivalent thickness parameter and the equivalent dielectric constant parameter. Each element of the compensation factor matrix corresponds to the correction weight of the three-dimensional coordinate axis direction in the spatial coordinate relationship model. The compensation factor matrix and the coordinate transformation matrix of the spatial coordinate relationship model are multiplied to obtain the correction coordinate transformation matrix. The three-dimensional offset vector is recalculated using the corrected coordinate transformation matrix, and the difference in the three-dimensional offset vector is calculated. The execution parameters of each level in the layered alignment strategy are adjusted according to the direction and magnitude of the difference. When the corrected three-dimensional offset vector converges to the offset range, the current state of the transmitter and receiver is locked, an energy transmission channel is established, and the charging process is started.

2. The method according to claim 1, characterized in that, Based on the spatial location data, a spatial coordinate relationship model between the receiver and the transmitter is established, and the three-dimensional offset vector of the receiver relative to the transmitter is calculated, including: Based on the spatial location data, the phase difference of the induced signal between multiple coil units in the coil array and the receiving coil is extracted to form a phase observation matrix; Spatial interpolation is performed on the phase observation matrix to generate a continuous phase field distribution function. The horizontal projection center position of the receiving coil is determined by solving the intersection of the equiphase lines of the continuous phase field distribution function. The amplitude difference of the induced signal of each coil unit in the coil array is collected, and the amplitude difference data is correlated and fitted with the planar distance from each coil unit to the projection center position to establish an amplitude distance attenuation characteristic curve. Based on the curvature change rate of the amplitude distance attenuation characteristic curve, the spatial height of the receiving coil relative to the transmitting plane is calculated. A three-dimensional position vector of the receiver is constructed using the planar coordinates of the projection center position and the spatial height. The vector difference between the three-dimensional position vector and the origin of the transmitter coordinate system is calculated to obtain the three-dimensional offset vector. The magnitude and orientation angle of the three-dimensional offset vector are used as the state variables of the spatial coordinate relationship model.

3. The method according to claim 1, characterized in that, A layered alignment strategy is generated based on the three-dimensional offset vector. This strategy involves adjusting the excitation distribution of the transmitting coil array to migrate the magnetic field center towards the receiving end position, and adjusting the excitation phase and amplitude distribution to match the direction of the synthesized magnetic field with the attitude angle of the receiving coil. This includes: The three-dimensional offset vector is decomposed into radial and tangential offset components in the horizontal plane and axial offset components in the vertical direction; Based on the radial offset component and the tangential offset component, the offset angle and offset distance of the receiver relative to the geometric center of the coil array of the transmitter are calculated. An excitation weight allocation function is constructed based on the offset angle and the offset distance, and a differentiated excitation current amplitude is assigned to each coil unit so that the excitation current amplitude is distributed in an increasing manner in the offset angle direction and in a decreasing manner in the opposite direction, thereby driving the magnetic field center to migrate toward the receiver position. Obtain the attitude angle information of the receiving coil, and calculate the angle between the normal vector of the receiving coil and the normal vector of the transmitting coil array based on the attitude angle information and the axial offset component; A phase compensation mapping relationship is established based on the included angle, and a differentiated phase offset is set for the excitation current of each coil unit, so that the magnetic field components generated by each coil unit are combined at the receiving end position into a magnetic field aligned with the normal vector of the receiving end coil; The adjusted excitation current amplitude and phase offset of each coil unit are used as the execution parameters of the layered alignment strategy.

4. The method according to claim 3, characterized in that, A phase compensation mapping relationship is established based on the included angle, and a differentiated phase offset is set for the excitation current of each coil unit, so that the magnetic field components generated by each coil unit are synthesized at the receiving end position into a magnetic field aligned with the normal vector of the receiving end coil, including: Based on the principle of magnetic field vector rotation, a functional relationship is established between the included angle and the phase distribution of the coil array. The functional relationship describes the phase configuration rule required to rotate the direction of the synthesized magnetic field to align with the normal vector of the receiving coil. Based on the functional relationship, a phase compensation mapping relationship is constructed, and the included angle is mapped to the phase compensation coefficient corresponding to each coil unit. The reference phase offset of each coil unit is calculated using the phase compensation coefficient, and the spatial coordinate information of each coil unit in the transmitting coil array is obtained. The spatial distance between each coil unit and the receiving coil is calculated based on the spatial coordinate information. The propagation phase delay caused by the magnetic field propagating to the receiving end position is calculated based on the spatial distance. The propagation phase delay is then superimposed with the reference phase offset to obtain the comprehensive phase offset of each coil unit. The phase of the excitation current of each coil unit is adjusted according to the comprehensive phase offset, so that the magnetic field components generated by each coil unit are vector synthesized according to the preset relative phase relationship when they reach the receiving end position, generating a synthetic magnetic field with the direction consistent with the normal vector of the receiving end coil.

5. The method according to claim 1, characterized in that, The layered alignment strategy is executed, and the coupling voltage waveform data between the transmitter and receiver is acquired in real time. The frequency domain decomposition of the coupling voltage waveform data is then performed to obtain the harmonic component distribution, including: During the execution of the hierarchical alignment strategy, a real-time monitoring channel for coupling voltage is established. Coupling voltage waveform data is synchronously collected according to the adjustment rhythm of the hierarchical alignment strategy. The coupling voltage waveform data includes voltage amplitude sequences for multiple time periods before and after alignment adjustment. The voltage amplitude sequences are divided into sliding time windows, and each time window covers at least one complete operating frequency cycle. The voltage amplitude sequence within each time window is transformed in the frequency domain, and the frequency domain spectral data corresponding to each time window is extracted. The frequency domain spectral data of different time windows are arranged in chronological order to construct a time-frequency matrix. The row dimension of the time-frequency matrix represents the time evolution, the column dimension represents the frequency component, and the matrix element value represents the energy intensity. Peak search is performed on the time-frequency matrix along the frequency dimension to lock the fundamental frequency position and the positions of each harmonic frequency, and the energy evolution trajectory at each harmonic frequency position is extracted along the time dimension. The average energy percentage and energy fluctuation amplitude of each harmonic component are statistically analyzed, and the harmonic component distribution is generated by combining the trend characteristics of the energy evolution trajectory.

6. The method according to claim 1, characterized in that, The energy evolution trajectory in the harmonic component distribution is correlated with the spatial position changes during the execution of the hierarchical alignment strategy. The harmonic energy distribution at each moment is mapped to the corresponding three-dimensional spatial coordinate points, and the spatial gradient is calculated to obtain the harmonic gradient tensor, including: The time axis of the energy evolution trajectory in the harmonic component distribution is parameterized as the execution step sequence of the hierarchical alignment strategy. The three-dimensional spatial coordinate point at the corresponding moment is calculated by accumulating the movement vector of each execution step. The movement vector is determined by the direction and step size of the alignment adjustment at each level. The energy values ​​of each harmonic frequency component are projected onto the corresponding three-dimensional spatial coordinate points to form a three-dimensional energy distribution with spatial coordinates as the independent variable and harmonic energy as the dependent variable. Gradient operator operations are performed on the three-dimensional energy distribution, and directional derivatives are calculated along each coordinate axis of the three-dimensional coordinate system. The directional derivatives along each coordinate axis constitute a harmonic gradient vector, and the direction of the harmonic gradient vector points to the spatial direction where the harmonic energy grows the fastest. For each harmonic frequency component, the corresponding harmonic gradient vector is calculated. The harmonic gradient vectors of all harmonic frequency components are organized into a harmonic gradient tensor according to the frequency dimension and the spatial dimension. The frequency dimension indexes each harmonic, and the spatial dimension indexes the direction of the three-dimensional coordinate axis. The tensor element values ​​quantify the influence intensity of the waterproof medium layer on the transmission of electromagnetic field energy at a specific frequency and in a specific spatial direction.

7. A waterproof socket wireless charging intelligent alignment system for implementing the method as described in any one of claims 1-6, characterized in that, include: The location data unit is used to acquire the spatial location data of the charging receiver within the charging area of ​​the waterproof socket. The spatial location data is characterized by the phase difference and amplitude difference of the coil array sensing signal. The modeling offset unit is used to establish a spatial coordinate relationship model between the receiver and the transmitter based on the spatial location data, and to calculate the three-dimensional offset vector of the receiver relative to the transmitter. The layered alignment unit is used to generate a layered alignment strategy based on the three-dimensional offset vector, realize the migration of the magnetic field center to the receiving end position by adjusting the excitation distribution of the transmitting end coil array, and make the direction of the synthesized magnetic field match the attitude angle of the receiving end coil by adjusting the excitation phase and amplitude distribution. The frequency domain decomposition unit is used to execute the hierarchical alignment strategy and collect the coupling voltage waveform data between the transmitter and receiver in real time, and perform frequency domain decomposition on the coupling voltage waveform data to obtain the harmonic component distribution. The compensation and correction unit is used to identify the influence characteristics of the waterproof medium layer on the electromagnetic field transmission path based on the harmonic component distribution, introduce the influence characteristics as a compensation factor into the spatial coordinate relationship model, dynamically correct the three-dimensional offset vector, and adjust the execution parameters of the layer alignment strategy in real time. The locking charging unit is used to lock the current state of the transmitter and receiver when the corrected three-dimensional offset vector converges to the offset range, establish an energy transmission channel and start the charging process.

8. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to invoke instructions stored in the memory to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 6.

Images