Wireless charging automatic alignment method and system, and electronic device

Abstract

This application discloses a wireless charging automatic alignment method, system, and electronic device, relating to the field of wireless charging technology. The method includes: controlling a transmitting module to activate transmission to obtain first electrical parameters fed back by a receiving module; controlling the transmitting and receiving modules to perform a tentative relative displacement, and re-acquiring second electrical parameters after the displacement; determining a target movement strategy for the next stage based on a comparison of the second and first electrical parameters; the target movement strategy includes the movement direction for the next stage; and controlling the transmitting and receiving modules to continue performing tentative relative displacement according to the target movement strategy until a preset alignment completion condition is met. This application establishes a closed-loop mechanism of "tentative displacement - parameter feedback - strategy optimization," eliminating the need for external sensors and achieving precise alignment using the system's own electrical parameters, effectively reducing hardware costs and improving charging efficiency.

Description

Technical Field

[0001] This application relates to the field of wireless charging technology, and in particular to a wireless charging automatic alignment method, system and electronic device. Background Technology

[0002] Wireless charging technology, with its advantages of no exposed contacts, safety, convenience, and strong environmental adaptability, has been widely used in consumer electronics, smart homes, electric vehicles, industrial automated guided vehicles, and inspection robots. In a wireless charging system, the relative position between the transmitting and receiving coils is a key factor affecting system performance; the degree of coupling between them (coupling coefficient) directly determines the energy transmission efficiency and maximum output power.

[0003] However, in practical applications, because the coil is usually encapsulated inside the device housing, it is difficult for users or automated equipment to visually determine the center position of the coil. This often leads to misalignment (i.e., offset) between the transmitting and receiving modules during charging. When there is a large positional deviation between the two, the magnetic field coupling capability will be significantly weakened. This will not only cause a significant decrease in transmission efficiency and a slower charging speed, but may also cause uncoupled energy to be converted into heat, resulting in severe overheating or even damage to the device, thereby affecting the safety and reliability of the system.

[0004] To address the alignment difficulties, existing technologies typically employ auxiliary positioning sensors. For example, Hall effect sensors are used in conjunction with magnets for positioning, or visual recognition components such as infrared sensors and cameras are used to guide alignment. While these methods can assist in alignment to some extent, they inevitably introduce additional hardware components. This not only increases the system's material costs and circuit design complexity but also often requires dedicated installation space within the device structure, hindering lightweight and miniaturized product design. Furthermore, relying solely on purely mechanical positioning or blind manual alignment lacks a real-time feedback mechanism, making it difficult to guarantee alignment accuracy. Therefore, how to achieve automatic and precise alignment using the inherent characteristics of wireless charging systems without increasing the cost of additional sensor hardware is a pressing technical challenge for the industry. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a wireless charging automatic alignment method, system, and electronic device, which can reduce hardware costs and circuit complexity, and improve the transmission efficiency of wireless charging.

[0006] In a first aspect, embodiments of this application provide a wireless charging automatic alignment method.

[0007] The automatic wireless charging alignment method according to an embodiment of this application is applied to an automatic wireless charging alignment system. The automatic wireless charging alignment system includes a transmitting module and a receiving module. The automatic wireless charging alignment method includes: controlling the transmitting module to start wireless charging transmission and acquiring a first electrical parameter fed back by the receiving module; controlling the transmitting module and the receiving module to perform a tentative relative displacement, and acquiring a second electrical parameter fed back by the receiving module again after the displacement; the second electrical parameter and the first electrical parameter are used to characterize the coupling degree between the transmitting module and the receiving module; determining a target movement strategy for the tentative relative displacement in the next stage based on the comparison result of the second electrical parameter and the first electrical parameter; the target movement strategy includes the movement direction of the tentative relative displacement in the next stage; and controlling the transmitting module and the receiving module to continue performing the tentative relative displacement step according to the target movement strategy until a preset alignment completion condition is met.

[0008] The wireless charging automatic alignment method according to the embodiments of this application has at least the following beneficial effects: by controlling the transmitting module to start transmitting to obtain the first electrical parameters fed back by the receiving module, and after controlling the transmitting module and the receiving module to undergo a tentative relative displacement, the second electrical parameters are re-obtained, and then the comparison result of the second electrical parameters that can characterize the degree of coupling with the first electrical parameters is used to determine the target movement strategy for the next stage of tentative relative displacement and continue to execute until alignment is completed. The wireless charging automatic alignment method described in this embodiment directly utilizes the physical correlation between electrical parameters and coil coupling during energy transmission in the wireless charging system to establish a closed-loop automatic control mechanism of "trial displacement - parameter feedback - strategy optimization". On the one hand, this solution eliminates the need for additional external positioning sensors such as Hall elements and vision modules in the system, effectively reducing hardware costs and circuit complexity while saving internal space. On the other hand, through movement strategy adjustment based on real-time feedback of electrical parameters, the system can accurately determine whether the current movement direction is conducive to improving coupling and dynamically correct the movement path accordingly. This enables efficient and accurate guidance of the transmitting and receiving modules to achieve automatic alignment with maximum coupling, improving the transmission efficiency of wireless charging and effectively avoiding energy loss and abnormal device overheating caused by misalignment.

[0009] According to some embodiments of the first aspect of this application, determining the target movement strategy for the tentative relative displacement in the next stage based on the comparison result of the second electrical parameter and the first electrical parameter includes: if the coupling degree represented by the second electrical parameter is greater than the coupling degree represented by the first electrical parameter, then the displacement direction of the tentative relative displacement at the current moment is taken as the movement direction; if the coupling degree represented by the second electrical parameter is less than the coupling degree represented by the first electrical parameter, then the opposite direction of the displacement direction of the tentative relative displacement at the current moment is taken as the movement direction.

[0010] According to some embodiments of the first aspect of this application, the target movement strategy further includes a movement step size for the tentative relative displacement in the next stage; The step of determining the target movement strategy for the tentative relative displacement in the next stage based on the comparison result of the second electrical parameter and the first electrical parameter further includes: adjusting the movement step size based on the absolute value of the difference between the second electrical parameter and the first electrical parameter; wherein the movement step size is positively correlated with the absolute value of the difference.

[0011] According to some embodiments of the first aspect of this application, the target movement strategy further includes a movement step size for the tentative relative displacement in the next stage; The step of determining the target movement strategy for the tentative relative displacement in the next stage based on the comparison result of the second electrical parameter and the first electrical parameter further includes: adjusting the movement step size according to the value of the second electrical parameter; wherein the movement step size is negatively correlated with the degree of coupling represented by the second electrical parameter.

[0012] According to some embodiments of the first aspect of this application, controlling the transmitting module and the receiving module to undergo a tentative relative displacement includes: controlling the transmitting module to stop wireless charging transmission; driving at least one of the transmitting module or the receiving module to move a preset distance along a preset direction; and controlling the transmitting module to restart wireless charging transmission.

[0013] According to some embodiments of the first aspect of this application, the alignment completion conditions include: The absolute value of the difference between the second electrical parameter and the first electrical parameter is less than a preset threshold.

[0014] According to some embodiments of the first aspect of this application, the step of controlling the transmitting module and the receiving module to continue performing the tentative relative displacement step according to the target movement strategy until a preset alignment completion condition is met includes: continuously controlling the transmitting module and the receiving module to continue relative displacement according to the target movement strategy in a first axis until the alignment completion condition is met in the first axis; keeping the relative position of the transmitting module and the receiving module unchanged in the first axis, and continuously controlling the transmitting module and the receiving module to continue relative displacement according to the target movement strategy in a second axis until the alignment completion condition is met in the second axis; wherein the first axis and the second axis are in the same plane and perpendicular to each other.

[0015] According to some embodiments of the first aspect of this application, the first electrical parameter and the second electrical parameter are the rectified voltage or rectified current of the receiving module; The step of obtaining the first electrical parameter fed back by the receiving module includes: receiving a data packet sent by the receiving module through a wireless communication channel, and parsing the data packet to obtain the first electrical parameter.

[0016] Secondly, embodiments of this application provide a wireless charging automatic alignment system.

[0017] A wireless charging automatic alignment system according to an embodiment of this application includes: a transmitting module for transmitting wireless energy; a receiving module for receiving wireless energy and feeding back electrical parameters; a driving mechanism connected to the transmitting module or the receiving module for driving the transmitting module and the receiving module to undergo relative displacement; and a control unit communicatively connected to the transmitting module, the receiving module, and the driving mechanism for executing the wireless charging automatic alignment method of any embodiment of the first aspect. The main working principle and beneficial effects of the wireless charging automatic alignment system of the embodiments are derived from the wireless charging automatic alignment method of any embodiment of the first aspect, and will not be described again here.

[0018] Thirdly, embodiments of this application provide an electronic device. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the wireless charging automatic alignment method of any embodiment of the first aspect. The main working principle and beneficial effects of the electronic device are derived from the wireless charging automatic alignment method of any embodiment of the first aspect, and will not be elaborated further. Attached Figure Description

[0019] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1This is a schematic diagram of the main process of the wireless charging automatic alignment method in an embodiment; Figure 2 This is a flowchart illustrating how the movement direction in the next stage is determined in an embodiment. Figure 3 This is a flowchart illustrating the trial relative displacement steps performed in an embodiment. Figure 4 This is a schematic diagram illustrating the process of automatic alignment along two vertical axes as an example. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0024] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0025] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0026] This embodiment illustrates an automatic wireless charging alignment method applied to an automatic wireless charging alignment system. The automatic wireless charging alignment system includes a transmitting module and a receiving module. For example... Figure 1 As shown, the wireless charging automatic alignment method in this embodiment includes, but is not limited to, steps S100 to S400: S100: Control the transmitting module to start wireless charging transmission and obtain the first electrical parameters fed back by the receiving module; S200: Control the transmitting module and the receiving module to perform a tentative relative displacement, and reacquire the second electrical parameters fed back by the receiving module after the displacement; the second electrical parameters and the first electrical parameters are used to characterize the degree of coupling between the transmitting module and the receiving module; S300. Based on the comparison result between the second electrical parameter and the first electrical parameter, determine the target movement strategy for the next stage of tentative relative displacement; the target movement strategy includes the movement direction of the tentative relative displacement in the next stage. S400: According to the target movement strategy, control the transmitting module and the receiving module to continue to perform the trial relative displacement steps until the preset alignment completion conditions are met.

[0027] In step S100, before or at the start of the alignment process, the system first establishes a reference benchmark. The control unit instructs the transmitting module to transmit wireless energy (which can be a low-power test signal or normal charging power). After receiving the energy, the receiving module generates a corresponding electrical response. The first electrical parameter is a physical quantity characterizing the degree of coupling between the transmitting and receiving modules at the current position. In specific applications, since the alignment of the transceiver coils directly affects the energy transmission efficiency and the voltage / current amplitude at the receiving end, this first electrical parameter can be the rectified voltage, rectified current, or output power at the receiving module. The receiving module feeds back the acquired parameter to the control unit via in-band communication or out-of-band communication (such as Bluetooth, ZigBee, etc.). (Which control unit, the transmitting or receiving module, receives the parameter depends on the specific situation. For example, if the receiving module is selected to move, the parameter can be fed back to the receiving module via in-band communication; if the transmitting module is selected to move, the parameter can be fed back to the transmitting module via out-of-band communication.) At this point, the control unit stores the value as the initial reference value (i.e., the first electrical parameter).

[0028] In step S200, to determine whether the current position is the optimal position, or to determine the direction of the current position relative to the optimal position, the system needs to perform a series of "trials." The control unit controls the transmitting module or receiving module to move a certain distance in a certain direction via a drive mechanism. This displacement is called "trial relative displacement," and its purpose is not to reach the endpoint in one go, but to detect the gradient of the energy field change. After the displacement is completed, at the new position, the receiving module detects the electrical parameters again and feeds them back to the control unit; these parameters are the second electrical parameters. At this time, the second electrical parameter and the first electrical parameter respectively represent the coupling state of the two positions before and after the trial displacement.

[0029] In step S300, the control unit compares the magnitudes of the second electrical parameter and the first electrical parameter to determine whether the previous "trial displacement" improved (e.g., increased voltage) or worsened (e.g., decreased voltage). Based on this comparison result, the system plans the next stage of action: if the comparison result shows an improved coupling, it indicates that the previous movement direction was correct, and the target movement strategy will usually instruct to maintain that direction; if the comparison result shows a decreased coupling, it indicates that the previous movement direction moved away from the center, and the target movement strategy will usually instruct to change direction (e.g., reverse direction).

[0030] It is important to note that the automatic wireless charging alignment method in this embodiment is a continuously iterative process, and the identity of the parameters dynamically changes as the alignment stage progresses. Specifically, after completing one comparison and determining the strategy for the next stage, the "second electrical parameter" acquired at the current moment will serve as the benchmark for the next round of comparison. That is, when entering the next stage of exploratory displacement, the "second electrical parameter" from the previous round is automatically updated to the new "first electrical parameter," and the newly acquired data after the next round of displacement will serve as the new "second electrical parameter." Through this rolling update mechanism, the system can continuously track the changing trend of the coupling degree.

[0031] In step S400, the control unit executes the actual mechanical movement according to the strategy (movement direction, which may also include movement step size) determined in step S300. After the movement, the system repeats the above-described "parameter acquisition-comparison-decision" process (i.e., repeating the logic of steps S200 to S300). This cyclical process continues, driving the transmitting module and receiving module to continuously adjust their relative positions, so that the electrical parameters fed back by the receiving module gradually approach the maximum value (or the preset target value). When the preset alignment completion conditions are met (e.g., the rate of change of the electrical parameters tends to zero, or the parameter value reaches a preset threshold, or peak values ​​have been found in multiple directions), the system determines that the alignment is successful, stops the exploratory displacement, and enters the formal high-power charging mode or maintains the current position for charging.

[0032] Understandably, the target movement strategy is based on a "trial and error hill-climbing algorithm," which aims to guide the receiving module toward the central region with the strongest magnetic field energy by continuously correcting the movement direction. For example... Figure 2 As shown, in some embodiments, step S300 may further include, but is not limited to, steps S310 to S320: S310. If the degree of coupling represented by the second electrical parameter is greater than the degree of coupling represented by the first electrical parameter, then the displacement direction of the current tentative relative displacement shall be taken as the direction of movement. S320. If the degree of coupling represented by the second electrical parameter is less than the degree of coupling represented by the first electrical parameter, then the opposite direction of the displacement direction of the current tentative relative displacement shall be taken as the direction of movement.

[0033] In step S310, if the coupling degree represented by the second electrical parameter is greater than the coupling degree represented by the first electrical parameter (e.g.) V rect_new > V rect_oldIf the voltage rises from 5V to 5.5V after the displacement, it indicates that the current direction of movement is "correct." This means that in the tentative displacement just performed, the transmitting and receiving modules are approaching each other, or the receiving module is moving along the gradient direction of increasing magnetic field strength (i.e., "climbing"). To maintain this positive growth trend, the system determines that the target movement strategy for the next stage should maintain the current direction of movement. Assuming that the current movement is along the positive X-axis, and the voltage rises from 5V to 5.5V after the displacement, it indicates that the peak value is still ahead of the positive X-axis, so the next action continues to move along the positive X-axis.

[0034] In step S320, if the coupling degree represented by the second electrical parameter is less than the coupling degree represented by the first electrical parameter (e.g.) V rect_new < V rect_old If the current direction of movement is "incorrect," it indicates that the system has just passed the optimal position. This situation typically occurs in the following two scenarios: Scenario 1 (Incorrect Starting Direction): When the system starts up, it randomly selects a direction (e.g., left), but the optimal position is actually on the right. In this case, moving to the left will cause the coupling to deteriorate.

[0035] Scenario 2 (Crossing the Peak): Assume the system is moving in the correct direction, and the voltage is continuously rising. After a certain displacement, the voltage suddenly drops, indicating that during the previous movement, the receiving module had crossed the center point of the transmitting module, causing the coupling to weaken (i.e., starting to "go downhill"). In either scenario, the system determines that the current direction is moving away from the target point. Therefore, the system determines the opposite direction of the current displacement as the direction of movement for the next stage. Through this "bounce-back" logic, the system can automatically lock onto the peak position. Once it detects that the peak has been crossed, it immediately turns around, thus confining the receiving module to the area near the peak.

[0036] In a preferred embodiment, to prevent minor measurement errors in electrical parameters (such as signal noise, ADC sampling jitter) from causing the system to misjudge the direction, comparison steps S310 and S320 can introduce hysteresis comparison or a dead-time threshold. Only when |second electrical parameter A substantial change in coupling is considered to have occurred and direction adjustment is triggered only when the first electrical parameter | > δ (δ is a preset noise immunity threshold). If the difference is within the threshold range, it can be considered to be close to the peak value or to maintain the current strategy observation. Furthermore, in the basic configuration of this embodiment (i.e., without dynamic step size adjustment), the step size of the tentative relative displacement in the next stage can be a fixed preset distance (e.g., moving 1mm or 2mm each time). The advantage of using a fixed step size is that the control logic is simple, the processing power requirement of the processor is low, and it is suitable for implementation with a low-cost microcontroller (MCU). Combined with the above-mentioned direction judgment logic, the system will oscillate with a "fixed step" to approach the optimal position until the alignment completion condition is met.

[0037] Understandably, in the electromagnetic field distribution of a wireless charging system, the farther away from the center of the transmitting coil, the greater the spatial rate of change (gradient) of the magnetic field strength; while closer to the center peak, the magnetic field change is more gradual (the gradient approaches zero). Based on this physical characteristic, some embodiments utilize the absolute value of the difference between two consecutive sampled values ​​(e.g., |Δ) V ∣=∣ V rect_new V rect_old |) to estimate the current gradient. In some embodiments, the target movement strategy also includes the movement step size of the tentative relative displacement for the next stage. Based on this, in some embodiments, step S300 may further include, but is not limited to, step S330: S330. Adjust the moving step size according to the absolute value of the difference between the second electrical parameter and the first electrical parameter; wherein the moving step size is positively correlated with the absolute value of the difference.

[0038] In step S330, the example given is the rectified voltage of the receiving module, where both the first and second electrical parameters are rectified voltages. When |Δ V When | is large, it indicates that the current position is in a region of drastic magnetic field changes (usually some distance from the center). The system uses a large step size to achieve rapid approximation and shorten the alignment time; when |Δ V When the value is small, it indicates that the magnetic field at the current location is changing gently (it may be close to the central peak area). The system automatically switches to a small step size to achieve a fine search and prevent repeated oscillations near the peak that prevent convergence.

[0039] More specifically, a mathematical model can be preset inside the control unit to establish the movement step size. S The absolute value of the difference |Δ V A positive correlation mapping between |. For example, the mapping is configured as a monotonically increasing convex function in the first quadrant, for instance, using a power function or logarithmic function model of the following form:

[0040] in, k Let be the proportionality constant, α be the exponential factor (0 < α < 1, for example, 0.5), and C be the basic step size. Using an increasing convex function has the following technical advantages: in |Δ V In a smaller interval (closer to zero), the slope of the convex function is larger, meaning that even with only a small change in the feedback signal, the system can calculate a sufficiently effective step size; in the interval |Δ V In a very large (extremely steep) interval, the growth of the convex function tends to level off, which acts as a "soft limit" to prevent the calculated step size from being too large due to signal jumps, thereby avoiding the receiving module from running out of the effective charging area or causing impact on the mechanical structure.

[0041] To reduce the computational load on the control unit, a segmented lookup table method can be used instead of complex floating-point operations to determine the movement step size. For example, the system can preset several difference intervals, each corresponding to a fixed step size value. Example: If |Δ V |>1.0V (rapid change region), set step size S =10mm (high speed setting); If 0.5V < |Δ V |≤1.0V (transition region), set step size S =5mm (medium speed); If 0.1V < |Δ V |≤0.5V (fine-tuning range), set step size S =1mm (slow speed); If |ΔV|≤0.1 V (Convergence region), set step size S =0.5mm or the alignment is determined to be complete.

[0042] This step-by-step adjustment method is logically simple, has a fast response speed, and is easy to debug, making it a lower-cost alternative.

[0043] In practical applications, regardless of whether the function method or the table lookup method is used, the calculated movement step size... S calc Ideally, a limiting step should be used to accommodate the physical limitations of the hardware. S final =Clamp( S calc , S min , S max The Clamp function is used to restrict a value to a specified range; S minThe lower limit is set to ensure that the movement command is greater than the mechanical dead zone or minimum resolution of the drive mechanism, preventing the system from issuing a movement command but the motor from actually moving. S max The set upper limit ensures that a single movement will not exceed the effective receiving range of the receiving module, preventing a "flying car" accident caused by a single misjudgment.

[0044] In some embodiments, the movement step size of the target movement strategy can be adjusted directly based on the magnitude of the second electrical parameter (i.e., the current coupling strength). In some embodiments, step S300 further includes, but is not limited to, step S340: S340. Adjust the moving step size according to the value of the second electrical parameter; wherein the moving step size is negatively correlated with the degree of coupling represented by the second electrical parameter.

[0045] In step S340, generally, the smaller the horizontal offset distance between the transmitting module and the receiving module, the higher the coupling degree, and the larger the received rectified voltage (or current) value; conversely, the larger the offset distance, the smaller the value. Based on this monotonic relationship, the control unit can use the current electrical parameter value as an estimate of "how far away from the target". When the second electrical parameter value is small (poor coupling), the system determines that the current receiving module is in the "far-field region", and a large step size is needed to quickly approach the target region; when the second electrical parameter value is large (strong coupling), the system determines that the current receiving module has entered the "near-field region" or "target region", and a small step size is needed for fine adjustment to achieve precise alignment. The movement step size S is negatively correlated with the electrical parameter value V.

[0046] More specifically, the system can be configured with a function to calculate the movement step size. For example, the function is configured as a monotonically decreasing concave function. For instance, suppose... V target This is the expected ideal alignment voltage value (or the maximum possible voltage). V cur Given the current detection voltage, the step size is... S The following model can be used for calculation:

[0047] in, S max The maximum allowable step size is given by n, which is a shape factor (n>1 is recommended, e.g., n=2 or n=3). Compared to linear decreases, concave function curves have a "concave" characteristic. This means that during the voltage rise from low to medium, the calculated step size S decays relatively quickly, while still maintaining a large moving speed; when V cur Very close V targetWhen the curve slowly descends (i.e., when entering the final precise alignment cycle), the moving step size slowly converges to the minimum value.

[0048] Understandably, using a lookup table to determine the movement step size based on the value of the second electrical parameter is also an efficient implementation method, suitable for low-cost control chips that do not require complex floating-point units. For example, the system presets several voltage threshold ranges: Far field region (rapid approximation): If V cur <30% V target If the distance is too far, set a step size. S = S High (e.g., 10mm); Midfield (smooth transition): If 30% V target ≤ V cur <80% V target Set step size S = S Mid (e.g., 5mm); Near-field zone (fine-tuning): If V cur ≥80% V target Set step size S = S Low (e.g., 1mm).

[0049] Understandably, unlike traditional continuous alignment methods that constantly monitor voltage during movement, this embodiment's automatic charging alignment method employs a discrete control logic of "stop-move-detect." This logic effectively avoids interference from mechanical vibration on electrical parameter sampling and prevents circuit instability risks caused by drastic fluctuations in coupling coefficients during movement. Figure 3 As shown, in some embodiments, step S200 further includes, but is not limited to, steps S210 to S230: S210, Control the transmitting module to stop wireless charging transmission; S220, drive at least one of the transmitting module or receiving module to move a preset distance along a preset direction; S230, control the transmitter module to restart wireless charging transmission.

[0050] In step S210, after determining that a position adjustment is required, the control unit first sends a command to shut down the power inverter circuit of the transmitting module (e.g., to shut down the PWM signal of the full-bridge / half-bridge drive).

[0051] In step S220, with the magnetic field off, the drive mechanism performs physical displacement. Regarding the direction and distance of movement, depending on the stage of alignment, there are two scenarios: During the system cold start or blind zone detection phase, when the system has just been powered on or is in an initial state without any historical gradient data, the control unit does not yet know the location of the "peak." At this time, the preset movement direction is configured as the "tentative perturbation direction." This direction can be a preset fixed direction (such as the negative X-axis direction), a randomly generated direction, or a "memory direction" based on the last successful alignment record. Typically, a small fixed step size (e.g., 2mm) is set at this stage, solely to generate initial parameter changes so that the system can calculate the first gradient data.

[0052] The system is in a stable operating phase (corresponding to the target movement strategy). After the system has completed at least one "sampling-comparison" cycle, the movement direction and movement step size follow the "target movement strategy" determined in step S300 (i.e., the movement direction and movement step size calculated in the aforementioned embodiment).

[0053] In step S230, after the mechanical movement is completed and the mechanism is confirmed to be stationary, the control unit commands the transmitting module to restart. In some embodiments, "restarting" does not immediately restore full-power charging, but rather transmits a short-duration low-power probe signal or analog beacon signal. If the previous movement caused the receiving module to deviate completely from the effective area, directly transmitting high power may cause energy loss or device overheating. Low-power probes can obtain sufficient second electrical parameters for comparison while ensuring system safety. After transmission is started, the control unit waits for a short "stabilization time window" (e.g., 10ms-50ms) until the transient response of the circuit disappears before acquiring data from the receiving module. This ensures that the second electrical parameters acquired each time are obtained under static, stable electromagnetic coupling conditions, greatly improving the accuracy of gradient calculation.

[0054] Understandably, reasonable alignment completion conditions are key to balancing system alignment accuracy and response time. If the conditions are too lenient, charging efficiency may not be optimal; if the conditions are too stringent, the system may oscillate repeatedly around the peak value, failing to reach a stable charging state. As an example, the following are optional alignment completion conditions: The stopping mechanism is based on gradient convergence. It utilizes the flatness of the electromagnetic coupling curve at its peak. As the transmitting and receiving modules gradually align, the rate of change of electrical parameters (such as rectified voltage) with displacement gradually decreases. When the parameter change is extremely small, mathematically, it means that the current position is at or very close to the "extreme point" of the coupling curve (i.e., the derivative approaches zero). The system calculates the currently acquired second electrical parameter. Vnew The first electrical parameter of the previous moment V old The absolute value of the difference between |Δ V ∣=∣ V new - V old |. If |Δ V ∣< V th If so, then the alignment is considered complete. Of course, a preset threshold ( V th The value should be slightly larger than the system's noise floor. For example, if the ADC sampling noise is approximately 10mV, then... V th It can be set to 20mV~50mV.

[0055] Stopping is based on the absolute target value. That is, stopping occurs when the application requirements are met. In some application scenarios, it is not necessarily necessary to find the theoretical "strongest point," as long as the coupling degree meets the rated power transmission requirements. If the second electrical parameter... V new Greater than the preset target threshold V target If the voltage reaches 95% of the rated operating voltage (e.g., 95% of the rated operating voltage), then alignment is considered complete. This strategy can significantly shorten alignment time and avoid unnecessary fine-tuning near the peak value.

[0056] Stopping is based on directional oscillations. When the system is near its optimal position, a vicious cycle of oscillations may occur: "deterioration of leftward movement → reversal (rightward movement) → deterioration of rightward movement → reversal (leftward movement)". The control unit can maintain a "reversal counter". If a reversal counter is detected, and the movement direction changes by N times in N consecutive (e.g., 3) tentative displacements, the stopping counter will be activated. If there is one reversal (i.e., a path A→B→A appears), it is determined that the system has crossed back and forth between the two sides of the peak. At this point, the system forcibly stops alignment and resets the transmitting module to the geometric center point of the oscillation range, which is taken as the final optimal alignment point.

[0057] Understandably, the above conditions can be used in combination. As long as any one of the above conditions is met, the system exits the trial loop and enters the formal charging phase. This combinational logic gives the system extremely high environmental adaptability, ensuring both accuracy and speed and stability.

[0058] Understandably, in practical wireless charging applications, the misalignment between the transmitting and receiving modules is usually two-dimensional (i.e., there are deviations along both the X and Y axes). To avoid complicating the algorithm logic by simultaneously controlling motors in two directions, a step-by-step alignment strategy can be adopted. For example... Figure 4As shown, in some examples, step S400 further includes, but is not limited to, steps S410 to S420: S410. Continue to control the relative displacement of the transmitting module and the receiving module along the first axis according to the target movement strategy until the alignment completion condition is met along the first axis. S420. Keep the relative positions of the transmitting module and the receiving module unchanged in the first axis, and continue to control the relative displacement of the transmitting module and the receiving module in the second axis according to the target movement strategy until the alignment completion condition is met in the second axis; wherein the first axis and the second axis are in the same plane and perpendicular to each other.

[0059] In step S410, the control unit first simplifies the entire two-dimensional search task into a one-dimensional task. The control unit first sends a command to the drive mechanism to lock or maintain the motor position in the Y-axis direction (second axis), ensuring that the coordinates of the receiving module on the Y-axis remain constant. Only the drive mechanism in the X-axis direction is activated. The system repeats the aforementioned steps S100 to S400 (i.e., the "trial-feedback-decision" loop) to find the peak point of the rectified voltage (second electrical parameter) on the X-axis. When the alignment completion condition is met in the X-axis direction (e.g., the voltage gradient in the X-axis direction approaches zero), the system pauses the movement along the X-axis. At this time, the receiving module remains at the optimal X-axis position under the current Y-axis coordinates.

[0060] In step S420, the system switches control dimensions. The control unit locks the newly found optimal X-axis position and activates the drive mechanism in the Y-axis direction. The system restarts the "trial-feedback-decision" cycle, but this time it only moves in the Y-axis direction. Since the X-axis coordinate is already in a relatively optimal position, this Y-axis search will directly guide the receiving module to approach the global maximum value point of the magnetic field. When the alignment completion condition is also met in the Y-axis direction, the automatic alignment process of the two-dimensional plane is considered complete.

[0061] Understandably, considering practical application scenarios, the physical movement of the transmitting module might be performed by the charging base where it resides or by an external driving mechanism connected to the transmitting module (such as a robotic arm of a vehicle mount or a lead screw slide of an automatic alignment platform), while the electrical parameters used to determine the movement effect are generated at the receiving module. Therefore, the system needs to establish a data feedback mechanism. In some embodiments, the transmitting module receives data packets sent by the receiving module through a wireless communication channel and parses the data packets to obtain the first electrical parameter. For example, when the receiving module senses that the transmitting module has started wireless charging, the detection circuit inside the receiving module collects the current rectified voltage or rectified current value in real time. Subsequently, the receiving module encapsulates the collected value into a standard data packet. The receiving module sends the data packet out through a wireless communication channel. The wireless communication channel can be in-band communication based on the wireless charging magnetic field (e.g., ASK modulation or FSK modulation) or independent out-of-band communication (e.g., Bluetooth, ZigBee, or WiFi). The control unit connected to the transmitting module or external driving mechanism receives the data packet and parses it to reconstruct the specific electrical parameter value (i.e., the first electrical parameter or the second electrical parameter).

[0062] Secondly, embodiments of this application provide a wireless charging automatic alignment system. The wireless charging automatic alignment system includes a transmitting module, a receiving module, a driving mechanism, and a control unit. The transmitting module is used to transmit wireless energy and internally includes a transmitting coil and an inverter circuit, capable of starting or stopping wireless charging transmission under the control of the control unit. Receiving module: Used to receive wireless energy and feed back electrical parameters. The receiver module is typically integrated into the electronic device to be charged, and includes a receiving coil and rectifier circuit. The receiver module also has detection and communication circuits for real-time detection of electrical parameters at the receiving end (such as rectified voltage) and transmission to the control unit via a wireless channel. The drive mechanism is connected to the transmitting or receiving module and is used to drive the relative displacement between the transmitting and receiving modules.

[0063] In practical applications, the drive mechanism is typically located at the charging base and mechanically connected to the transmitting module. The drive mechanism can be an electric displacement device comprising a motor (such as a stepper motor), gear set, lead screw, or slide rail. Upon receiving a control command, the drive mechanism can precisely move the transmitting module within a preset plane (such as the X-axis or Y-axis).

[0064] The control unit (such as a microcontroller (MCU), DSP, or FPGA) is communicatively connected to the transmitting module, receiving module, and drive mechanism. The control unit is the core decision-making center of the entire system, configured to execute the wireless charging automatic alignment method of any embodiment of the first aspect. For example, specific functions of the control unit include, but are not limited to: controlling the start and stop of the transmitting module; receiving and parsing electrical parameters (first and second electrical parameters) fed back by the receiving module; executing comparison logic to determine the target movement strategy (such as movement direction and movement step size); and sending control signals to the drive mechanism to control it to move a specific distance according to the strategy. Through the coordinated operation of the above modules, the wireless charging automatic alignment system of the embodiment can automatically find the optimal coupling position between the transmitting coil and the receiving coil, thereby improving charging efficiency.

[0065] Thirdly, embodiments of this application provide an electronic device. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the wireless charging automatic alignment method of any embodiment of the first aspect. The working principle and beneficial effects of the electronic device are derived from the wireless charging automatic alignment method of the first aspect, and will not be described further.

[0066] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A wireless charging automatic alignment method, characterized in that, An automatic alignment system for wireless charging is applied, the automatic alignment system for wireless charging includes a transmitting module and a receiving module, and the automatic alignment method for wireless charging includes: Control the transmitting module to start wireless charging transmission and obtain the first electrical parameters fed back by the receiving module; The transmitting module and the receiving module are controlled to undergo a tentative relative displacement, and the second electrical parameter fed back by the receiving module is reacquired after the displacement; the second electrical parameter and the first electrical parameter are used to characterize the degree of coupling between the transmitting module and the receiving module; Based on the comparison result between the second electrical parameter and the first electrical parameter, the target movement strategy for the tentative relative displacement in the next stage is determined; the target movement strategy includes the movement direction of the tentative relative displacement in the next stage. According to the target movement strategy, the transmitting module and the receiving module continue to perform the tentative relative displacement steps until the preset alignment completion condition is met.

2. The wireless charging auto-alignment method of claim 1, wherein, The step of determining the target movement strategy for the next stage of the tentative relative displacement based on the comparison result between the second electrical parameter and the first electrical parameter includes: If the degree of coupling represented by the second electrical parameter is greater than the degree of coupling represented by the first electrical parameter, then the displacement direction of the tentative relative displacement at the current moment shall be taken as the direction of movement. If the degree of coupling represented by the second electrical parameter is less than the degree of coupling represented by the first electrical parameter, then the opposite direction of the displacement direction of the current tentative relative displacement is taken as the direction of movement.

3. The wireless charging auto-alignment method of claim 1, wherein, The target movement strategy also includes the movement step size of the tentative relative displacement in the next phase; The step of determining the target movement strategy for the next stage of the tentative relative displacement based on the comparison result between the second electrical parameter and the first electrical parameter further includes: The moving step size is adjusted according to the absolute value of the difference between the second electrical parameter and the first electrical parameter; The moving step size is positively correlated with the absolute value of the difference.

4. The wireless charging auto-alignment method of claim 1, wherein, The target movement strategy also includes the movement step size of the tentative relative displacement in the next phase; The step of determining the target movement strategy for the next stage of the tentative relative displacement based on the comparison result between the second electrical parameter and the first electrical parameter further includes: The movement step size is adjusted according to the value of the second electrical parameter; The moving step size is negatively correlated with the degree of coupling represented by the second electrical parameter.

5. The wireless charging auto-alignment method of claim 1, wherein, The control of the transmitting module and the receiving module to undergo a tentative relative displacement includes: Control the transmitting module to stop wireless charging transmission; Drive at least one of the transmitting module or the receiving module to move a preset distance along a preset direction; Control the transmitting module to restart wireless charging transmission.

6. The wireless charging auto-alignment method of claim 3 or 4, wherein, The alignment completion conditions include: The absolute value of the difference between the second electrical parameter and the first electrical parameter is less than a preset threshold.

7. The wireless charging auto-alignment method of claim 1, wherein, The step of controlling the transmitting module and the receiving module to continue performing the tentative relative displacement step according to the target movement strategy until the preset alignment completion condition is met includes: The transmitting module and the receiving module continue to move relative to each other along the first axis according to the target movement strategy until the alignment completion condition is met along the first axis. Keeping the relative positions of the transmitting module and the receiving module unchanged in the first axis, the transmitting module and the receiving module are continuously controlled to continue to move relative to each other in the second axis according to the target movement strategy until the alignment completion condition is met in the second axis. Wherein, the first axial direction and the second axial direction are in the same plane and perpendicular to each other.

8. The automatic alignment method for wireless charging according to claim 1, characterized in that, The first electrical parameter and the second electrical parameter are the rectified voltage or rectified current of the receiving module; The step of obtaining the first electrical parameter fed back by the receiving module includes: receiving a data packet sent by the receiving module through a wireless communication channel, and parsing the data packet to obtain the first electrical parameter.

9. A wireless charging auto-alignment system, characterized in that, include: Transmitting module, used to transmit wireless energy; The receiving module is used to receive wireless energy and feed back electrical parameters; A drive mechanism, connected to the transmitting module or the receiving module, is used to drive the transmitting module and the receiving module to undergo relative displacement; The control unit is communicatively connected to the transmitting module, the receiving module and the driving mechanism, and is used to execute the wireless charging automatic alignment method as described in any one of claims 1 to 8.

10. An electronic device, comprising: The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the wireless charging automatic alignment method as described in any one of claims 1 to 8.

Images