Transmit end adaptive wireless charging coil space self-alignment system, control method and medium

Abstract

The application belongs to the technical field of wireless charging, and particularly relates to a transmitting-end adaptive wireless charging coil space self-alignment system, a control method and a medium. The system comprises a millimeter wave radar module, an infrared array sensor, a power detection module, a multi-degree-of-freedom mechanical platform and a controller. The millimeter wave radar detects the vertical distance and the azimuth angle of the receiving coil; the infrared array sensor collects a temperature distribution matrix and extracts temperature barycenter coordinates; the power detection module calculates power loss; the multi-degree-of-freedom mechanical platform bears the transmitting coil, and performs X / Y translation, Z lifting and pitch / roll angle adjustment; and the controller drives the mechanical platform to actively move according to the six-degree-of-freedom pose information solved by multi-source sensing fusion, so that the pose deviation between the transmitting coil and the receiving coil is minimized. The application enables the transmitting coil to have active alignment capability, and does not need to cooperate with the movement of the receiving end.

Description

Technical Field

[0001] This invention belongs to the field of wireless charging technology, specifically relating to a transmitter-adaptive wireless charging coil spatial self-alignment system, control method, and medium, which is particularly suitable for wireless charging scenarios of electric vehicles, AGVs, and industrial mobile robots. Background Technology

[0002] Wireless charging systems transfer energy through electromagnetic coupling between transmitting and receiving coils. The relative position of the coils has a decisive impact on the transmission efficiency: when the two coils are perfectly aligned, the mutual inductance is at its maximum, and the transmission efficiency is the highest; when there is offset or tilt, the mutual inductance decreases, the leakage inductance increases, resulting in a significant reduction in transmission efficiency, while also generating additional heat and electromagnetic radiation.

[0003] The existing alignment schemes for wireless charging systems mainly suffer from the following technical problems: Insufficient detection dimensions. Most existing solutions only support position detection in a two-dimensional plane (XY direction), and cannot detect changes in vertical distance (Z direction) and attitude angles (pitch, roll, azimuth). In actual use, the chassis height of different vehicle models varies, and there is also a certain tilt angle when the vehicle is parked and charging. These factors will significantly affect charging efficiency.

[0004] Reliance on dedicated hardware. Some solutions use cameras, LiDAR, or dedicated position sensors for alignment detection, which increases system cost and installation complexity, hindering large-scale deployment.

[0005] The guidance method is too simplistic. Existing solutions typically only have simple LED indicators or buzzers in their user interface, making it difficult for users to intuitively understand alignment deviations in three-dimensional space, resulting in long alignment times and low success rates.

[0006] The lack of an automatic alignment interface is a significant drawback. Most existing solutions are designed for manual alignment and cannot be integrated with the automatic parking systems of AGVs or autonomous vehicles, thus limiting their application in unmanned scenarios.

[0007] Therefore, there is an urgent need for a wireless charging coil alignment method that can achieve six degrees of freedom full attitude detection and provide three-dimensional visualization guidance and automatic alignment interface without increasing hardware costs. Summary of the Invention

[0008] This application aims to at least solve the technical problems existing in the prior art, and to provide a transmitter adaptive wireless charging coil spatial self-alignment system, control method and medium.

[0009] In a first aspect, the present invention provides a transmitter-adaptive wireless charging coil spatial self-alignment system, comprising: Millimeter-wave radar module, used to detect the vertical distance Z of the receiving coil relative to the transmitting coil and the horizontal azimuth angle θ_yaw; An infrared array sensor is used to acquire the temperature distribution matrix of the transmitting coil region and extract the temperature centroid coordinates (Gx, Gy) and thermal field ellipse parameters. The power detection module is used to collect the input power and output power of the wireless charging system and calculate the power loss ΔP. A multi-degree-of-freedom mechanical platform is installed on the wireless charging transmitter to carry the transmitting coil and perform multi-degree-of-freedom active motion in space. The multi-degree-of-freedom includes translation in the X direction, translation in the Y direction, lifting in the Z direction, pitch adjustment, and roll adjustment. The controller is connected to the multi-source sensing module and the multi-degree-of-freedom mechanical platform respectively. It is used to drive the multi-degree-of-freedom mechanical platform to move actively according to the position and orientation information of the receiving coil sensed by the multi-source sensing module, so as to minimize the position and orientation deviation between the transmitting coil and the receiving coil and realize spatial self-alignment.

[0010] The above scheme combines a multi-degree-of-freedom mechanical platform with a wireless charging transmitter, enabling the transmitting coil to have active movement capabilities. Millimeter-wave radar provides distance and angle information, an infrared array provides planar offset and tilt information, and power detection provides coupling quality feedback. These three sensors perceive the pose of the receiving coil from different physical dimensions, complementing each other's information. The controller drives the mechanical platform to actively align with the receiving coil based on the fused pose information. The entire alignment process is completed independently by the transmitter, requiring no movement from the receiver.

[0011] Furthermore, the millimeter-wave radar module is a 60GHz frequency-modulated continuous wave radar, installed at the center of the transmitting coil. The method for extracting the vertical distance Z includes: performing a range FFT on the radar echo signal, extracting the range gate corresponding to the metal reflective surface of the receiving coil, and calculating the vertical distance Z based on the relationship between the speed of light and the time delay.

[0012] Using the above scheme, the 60GHz millimeter-wave radar possesses the characteristics of short wavelength and high resolution, enabling millimeter-level accuracy range measurement of metallic targets. The radar is mounted at the center of the transmitting coil, ensuring that the measured distance directly reflects the vertical distance between the transmitting and receiving coils. Range FFT processing separates echo signals from different distances in the frequency domain, accurately extracting the range gate corresponding to the metal reflector of the receiving coil and avoiding interference from other clutter.

[0013] Furthermore, the infrared array sensor is an 8×8 pixel infrared array sensor, installed at the four corners of the outer periphery of the transmitting coil, with a field of view covering the entire coil area; the formula for calculating the temperature centroid coordinates (Gx, Gy) is: Gx = Σ(i·T_norm[i][j]) / ΣT_norm[i][j] Gy = Σ(j·T_norm[i][j]) / ΣT_norm[i][j] Where T_norm[i][j] is the normalized temperature value of pixel (i,j) relative to the ambient temperature.

[0014] Using the above scheme, four infrared array sensors cover the transmitting coil area from different angles, and the resulting image is stitched together to form a higher resolution temperature field. When the transmitting coil is operating, it creates a temperature distribution on its surface. The projected area of ​​the receiving coil has a lower temperature, allowing the planar position of the receiving coil relative to the transmitting coil to be deduced from the temperature centroid coordinates. Normalization eliminates the influence of ambient temperature changes on the detection results, making the centroid coordinate calculation more stable.

[0015] Furthermore, the multi-degree-of-freedom mechanical platform includes an X-axis translation component for realizing X-direction translation, a Y-axis translation component slidably mounted on the X-axis translation component, a Z-axis lifting component mounted on the Y-axis translation component, a pitch adjustment component mounted on the upper end of the Z-axis lifting component, a roll adjustment component mounted on the pitch adjustment component, and a transmitting coil mounting plate fixedly mounted on the end effector of the roll adjustment component; each translation component and adjustment component is driven by an independent drive motor and equipped with a corresponding position angle sensor. The sensors are all electrically connected to the controller to form a fully closed-loop position feedback, and the drive motors are all electrically connected to the controller to receive control commands and execute movements of the corresponding degree of freedom.

[0016] The above scheme employs an independent drive and feedback structure for the five motion axes: X, Y, Z, pitch, and roll. The motion of each axis is decoupled, resulting in a simple control algorithm and high positioning accuracy. Full closed-loop position feedback allows the controller to know the actual position of the transmitting coil in real time, compare it with the target position, and form a closed-loop correction to ensure the mechanical platform accurately reaches the commanded position. The transmitting coil mounting plate is located on the end effector, following the movement of each axis to achieve arbitrary pose adjustment within space.

[0017] Secondly, the present invention provides a transmitter-adaptive wireless charging coil spatial self-alignment control method based on the above-mentioned system, comprising the following steps: Step S1: The six-degree-of-freedom pose of the receiving coil relative to the transmitting coil is sensed in real time through the multi-source sensing module, including the offset ΔX in the X direction, the offset ΔY in the Y direction, the vertical distance ΔZ, the pitch angle θ_pitch, the roll angle θ_roll, and the azimuth angle θ_yaw. Step S2: Based on the sensed six-degree-of-freedom pose deviation, the controller calculates the target position command for each motion axis of the multi-degree-of-freedom mechanical platform through inverse kinematics solution. Step S3: The controller drives the multi-degree-of-freedom mechanical platform to move actively, so that the transmitting coil gradually approaches the pose of the receiving coil in the X, Y, Z, pitch, and roll directions. Step S4: Repeat steps S1 to S3 to form a closed-loop control until all pose deviations fall within the preset allowable range. Step S5: When all pose deviations meet the allowable range and the continuous stable time exceeds the preset threshold, lock the position of the transmitting coil, send an alignment success signal, and allow wireless charging to start or continue.

[0018] Through the above scheme, sensing, calculation, driving, and feedback constitute a complete closed-loop alignment process. Six-DOF pose sensing covers all possible relative positions and attitude deviations between the transmitting and receiving coils. Inverse kinematics solving converts the desired transmitting coil pose into specific commands for each motion axis, enabling coordinated multi-dimensional motion. The closed-loop iterative mechanism ensures that the deviation gradually decreases until the requirements are met, and continuous stable judgment prevents false triggering when transient conditions are met.

[0019] Furthermore, the control method also includes an active optimization scanning step: when the multi-source sensing module cannot clearly perceive the position and orientation of the receiving coil, or when the initial position and orientation deviation exceeds the movement range of the mechanical platform, the controller drives the transmitting coil to actively search according to a preset spiral scanning trajectory; during the scanning process, the power loss ΔP is monitored in real time, and when ΔP is lower than the preset threshold for the first time, the scanning is stopped and the system switches to closed-loop alignment mode.

[0020] The above scheme allows the spiral scanning trajectory to gradually expand outward from the center, covering the entire area where the receiving coil might be located. The power loss ΔP, used to determine whether the receiving coil has been found, has a clear physical meaning: when the transmitting and receiving coils are close, coupling increases, and power loss decreases. This mechanism solves the alignment start-up problem when the receiving coil is completely outside the sensor's initial detection range.

[0021] Furthermore, the control method also includes a dynamic tracking step during the charging process: during wireless charging, the controller continuously monitors the six-degree-of-freedom pose changes at a frequency of 10Hz; when the pose deviation is detected to exceed the preset dynamic tracking threshold, the controller drives the multi-degree-of-freedom mechanical platform to make minor adjustments to maintain the optimal coupling state; when the pose deviation exceeds the safety threshold, the controller immediately suspends charging and issues an alarm.

[0022] With the above scheme, the receiving coil may experience slight displacement during charging due to changes in vehicle suspension, passengers getting in and out of the vehicle, etc. The continuous monitoring mechanism can detect these changes in a timely manner. When the deviation exceeds the dynamic tracking threshold, it triggers a fine-tuning mechanism, causing the transmitting coil to follow the receiving coil and maintain the established optimal coupling state. The safety threshold setting serves as a final layer of protection; when the deviation is too large, charging is suspended to prevent excessively low efficiency or system malfunctions.

[0023] Furthermore, during the movement of the transmitting coil, the controller monitors the current feedback value of each axis motor of the multi-degree-of-freedom mechanical platform in real time. When the current of any axis motor exceeds the preset stall current threshold, it is determined that mechanical interference or collision has occurred. The controller immediately stops all movements, returns the transmitting coil to a safe position, and issues a prompt message through the human-machine interface.

[0024] Through the above scheme, the motor current is proportional to the load torque. When the transmitting coil encounters an obstacle during its movement, the obstructed movement leads to an increase in motor load and current. Current threshold monitoring enables real-time detection of mechanical interference, allowing for an instantaneous response upon collision. Stopping movement and retracting to a safe position prevents equipment damage, and user prompts guide manual obstacle removal, enhancing system safety.

[0025] Furthermore, in step S3, when the controller drives the multi-degree-of-freedom mechanical platform to move actively, a layered control strategy is adopted: when the absolute value of the offset in the X direction or the offset in the Y direction is greater than the first threshold, the controller controls the X-axis translation mechanism and the Y-axis translation mechanism to perform coarse alignment movement at the first speed; when the absolute values ​​of the offset in the X direction and the offset in the Y direction are both less than or equal to the first threshold and greater than the second threshold, the controller controls the X-axis translation mechanism and the Y-axis translation mechanism to perform fine alignment movement at the second speed, which is lower than the first speed; when the absolute values ​​of the offset in the X direction and the offset in the Y direction are both less than or equal to the second threshold, the controller stops the translation movement, starts the pitch adjustment mechanism and the roll adjustment mechanism to perform attitude fine adjustment, and simultaneously starts the Z-axis lifting mechanism to adjust the vertical distance to the target value.

[0026] The above scheme employs high-speed motion during the coarse alignment stage to quickly reduce the large deviation between the transmitting and receiving coils, thus shortening the overall alignment time. The fine alignment stage operates at a reduced speed to improve positioning accuracy and prevent overshoot due to motion inertia. After translational alignment is completed, the stage of attitude fine-tuning and altitude adjustment begins. At this point, the transmitting coil is directly below the receiving coil, allowing for precise adjustments. This layered strategy balances both alignment speed and final accuracy.

[0027] Thirdly, the present invention also provides a computer-readable storage medium storing at least one computer program, which is executed by a processor in an electronic device to implement the aforementioned transmitter adaptive wireless charging coil spatial self-alignment control method.

[0028] In summary, this application includes the following beneficial technical effects: First, by combining a multi-degree-of-freedom mechanical platform with the wireless charging transmitter, the transmitting coil actively seeks out and follows the receiving coil, completely eliminating reliance on the receiver's movement capabilities. The vehicle only needs to be parked in the approximate area; even if the engine is off, the vehicle is broken down, or the driver lacks precise parking skills, the system can automatically align itself. This architecture overturns the traditional "receiver finds transmitter" technical approach, significantly improving the ease of use and versatility of the wireless charging system.

[0029] Secondly, by continuously monitoring and finely adjusting the position and orientation changes during charging, the relative displacement of the coil caused by changes in vehicle suspension and people getting in and out of the vehicle can be effectively addressed, thus maintaining the optimal coupling state and avoiding a decrease in charging efficiency. Attached Figure Description

[0030] Figure 1 This is a system structure block diagram of the present invention; Figure 2 This is a schematic diagram illustrating the definition of the three-dimensional spatial coordinate system in the method of the present invention; Figure 3 This is a flowchart of an extended Kalman filter algorithm provided in an embodiment of the present invention; Figure 4 This is a flowchart of a self-alignment control method provided in an embodiment of the present invention; Figure 5 This is a state transition diagram of a hierarchical PID control strategy provided in an embodiment of the present invention.

[0031] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] Embodiments of the present invention are described in detail below. Examples of these 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 the present invention, and should not be construed as limiting the present invention.

[0033] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", 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 invention 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 invention.

[0034] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figure 1 This embodiment provides a transmitter-adaptive wireless charging coil spatial self-alignment system. It includes: Millimeter-wave radar module: The radar module is installed at the center of the transmitting coil, with the radar antenna plane parallel to the transmitting coil plane and a spacing of 5mm. It employs a 60GHz frequency-modulated continuous wave radar to detect the vertical distance Z and horizontal azimuth angle θ_yaw of the receiving coil relative to the transmitting coil.

[0037] Infrared array sensors: Four 8×8 pixel infrared array sensors are installed at the four corners of the transmitting coil, covering the entire coil area. They communicate with the controller via an I2C bus. The data from the four sensors are stitched together to form a 16×16 high-resolution temperature matrix, which is used to extract the temperature centroid coordinates (Gx, Gy) and thermal field ellipse parameters.

[0038] Power detection module: Reuses the original voltage and current transformers of the charging system, with a sampling rate of 20kHz, and connects to the controller via an ADC. The power loss ΔP is calculated at a frequency of 1kHz.

[0039] Multi-degree-of-freedom mechanical platform: Includes a base, X-axis translation mechanism, Y-axis translation mechanism, Z-axis lifting mechanism, pitch adjustment mechanism, roll adjustment mechanism, and transmitting coil mounting plate. The base is fixed to the ground and is made of cast aluminum. The X-axis translation mechanism is mounted on the base with a travel of ±50mm. The Y-axis translation mechanism is mounted on the X-axis slide. The Z-axis lifting mechanism uses a scissor-type structure and is driven by a third servo motor. The pitch adjustment mechanism uses a worm gear reducer. The roll adjustment mechanism uses a rotating bracket structure. The transmitting coil mounting plate is mounted at the end of the roll adjustment mechanism to secure the transmitting coil. Driven by the mechanical platform, the transmitting coil can perform X-axis translation, Y-axis translation, Z-axis lifting, pitch adjustment, and roll adjustment within space.

[0040] Controller: The controller adopts a dual-core DSP architecture. The main core is responsible for EKF attitude calculation, PID control, and state management, while the CLA co-core operates at a frequency of 200MHz and is responsible for FFT processing of the radar intermediate frequency signal. The controller communicates with the servo motor driver via a CAN bus, with a command cycle of 1ms. The controller is connected to the millimeter-wave radar module, infrared array sensor, power detection module, and multi-degree-of-freedom mechanical platform.

[0041] Based on the same design concept, and referring to Figures 2-5 This embodiment also discloses a transmitter adaptive wireless charging coil spatial self-alignment control method applied to the above-mentioned self-alignment system, including the following steps.

[0042] Step 1: System initialization.

[0043] After parking their vehicle in the charging space, users can press the "Start Charging" button on the charging station or initiate the charging process via a mobile app. The controller performs a power-on self-test, checking whether the multi-source sensor module and the motors of each axis of the multi-degree-of-freedom mechanical platform are functioning properly. It then moves the transmitting coil to its initial position, which is set as follows: X=0, Y=0, Z=80mm (lowest position), pitch=0°, and roll=0°.

[0044] Step 2: Multi-source sensing.

[0045] The millimeter-wave radar transmits an FMCW signal and receives the echo from a receiving coil at the bottom of the vehicle. After CFAR detection and angle FFT, the distance to the receiving coil is determined to be R = 135 mm, and the azimuth angle θ_yaw = 2.3°. Since the radar is installed at the center of the transmitting coil, the vertical distance Z = R·cosθ_yaw, which calculates to be approximately 135 mm.

[0046] The infrared array sensor collects the temperature distribution. After ambient temperature compensation, the temperature centroid coordinates are Gx=4.2, Gy=3.8, and the array center is (4.0, 4.0), indicating that the projection center of the receiving coil is slightly shifted to the right and front.

[0047] The power detection module sends a low-power detection signal (10W) through the transmitting coil, measures the reflected power, calculates the coupling coefficient, and estimates the power loss ΔP = 30W.

[0048] Step 3: EKF attitude calculation.

[0049] The controller inputs the above observations into the extended Kalman filter to calculate the six-degree-of-freedom pose: ΔX=+25mm (receiving coil tilted to the right), ΔY=-12mm (receiving coil tilted to the rear), ΔZ=+35mm (chassis tilted to the high), θ_pitch=+1.2° (front of the vehicle tilted to the high), θ_roll=-0.5° (left side tilted to the low), θ_yaw=+2.3° (vehicle body tilted to the right).

[0050] Step 4: Inverse kinematics solution and PID control.

[0051] The controller converts the pose deviation into target positions for each axis: the target for the X-axis is +25mm, the target for the Y-axis is -12mm, the target for the Z-axis is +35mm (i.e., rise and fall to 115mm, so that the coil spacing reaches 100mm), the target for the pitch axis is +1.2°, and the target for the roll axis is -0.5°.

[0052] A hierarchical PID control strategy is adopted: First stage (0-3 seconds): |ΔX|=25mm>10mm, |ΔY|=12mm>10mm, coarse alignment is performed at a speed of 20mm / s, the X-axis and Y-axis motors move simultaneously, and the transmitting coil moves to the right front.

[0053] Second stage (3-8 seconds): |ΔX| decreases to 8mm, |ΔY| decreases to 5mm, entering the fine alignment stage. The X-axis and Y-axis decelerate to 5mm / s, while the Z-axis rises to 115mm at a speed of 10mm / s, and the pitch and roll axes begin to move at 1° / s.

[0054] Third stage (8-12 seconds): |ΔX|=3mm, |ΔY|=2mm, the precision alignment threshold has been met, stop translation, continue to adjust the pitch axis to the target angle, and adjust the roll axis synchronously.

[0055] Step 5: Alignment and lock determination.

[0056] At the 12th second, all pose deviations satisfy the following conditions: |ΔX|=2mm≤3mm, |ΔY|=1.5mm≤3mm, |ΔZ-Z0|=5mm≤5mm, |θ_pitch|=0.3°≤0.5°, and |θ_roll|=0.2°≤0.5°. After continuous and stable monitoring for 2 seconds, an alignment success signal is issued at the 14th second.

[0057] Step 6: Start charging.

[0058] The controller closes the charging contactor, initiating constant power charging at 11kW. At this point, the power loss ΔP = 185W, and the transmission efficiency is 92.3%.

[0059] Example 3: Active Optimization Scanning Mode When the vehicle is parked at a severe angle, and the distance between the center of the receiving coil and the center of the transmitting coil exceeds 80mm, the millimeter-wave radar and infrared array cannot clearly perceive the position and orientation of the receiving coil, the system automatically enters the active optimization scanning mode.

[0060] For example, the helical scanning trajectory parameters can be set as follows: initial radius 5mm, radius increment 5mm / revolution, maximum radius 60mm, and scanning speed 10mm / s. The transmitting coil starts from the initial center and searches outward along the helical trajectory. With each step, the transmitting end sends a short, low-power detection signal to the receiving coil, lasting 50ms and with a power of 100W, and measures the power loss ΔP.

[0061] When the third scan (radius 15mm) is completed, ΔP drops to 280W for the first time, below the preset threshold of 300W. The controller records the current position, stops scanning, and switches to closed-loop alignment mode. The entire process from the start of scanning to switching to closed-loop alignment takes approximately 9 seconds.

[0062] Example 4: Dynamic Tracking of the Charging Process After the vehicle started charging, the suspension rose by about 5mm due to passengers getting off, which caused the vertical distance of the coil to increase.

[0063] The controller continuously monitors pose changes at a frequency of 10Hz. At the 30th second, it detects that ΔZ has increased from 100mm to 107mm, exceeding the dynamic tracking threshold (|ΔZ-Z0|>3mm). The controller then activates the Z-axis lifting mechanism, raising the transmitting coil by 7mm at a speed of 5mm / s, restoring the coil spacing to 100mm. The entire dynamic tracking process takes 1.4 seconds, and the charging power does not fluctuate significantly.

[0064] At the 60th second, after the vehicle suspension stabilized, ΔZ returned to 102mm, and the controller made another fine adjustment, lowering the transmitting coil by 2mm.

[0065] Example 5: Interference Detection and Security Protection During the precision alignment stage, when the transmitting coil moves to the right, the dust accumulation on the road surface forms an obstacle, causing the X-axis motor current to rise to 1.6 times the rated current.

[0066] After detecting an abnormal current, the controller determines it to be mechanical interference and executes the following protective actions: stops all motor movement; retracts the transmitting coil to the initial safe position (X=0, Y=0, Z=80mm); issues a prompt "Alignment path obstructed, please check if there are obstacles in the charging area" through the charging pile display and mobile APP; and records a fault log, including the fault axis, current value, and timestamp.

[0067] After the user clears the obstacle, they can click "Retry" in the app, and the system will restart the alignment process.

[0068] Example 6: Verification of Hierarchical Control Strategy This embodiment verifies the alignment effect of the layered control strategy. Initial deviations are set as ΔX = 35mm, ΔY = 25mm, and ΔZ = 30mm.

[0069] Coarse alignment stage: The X and Y axes move simultaneously at 20 mm / s, taking about 2.5 seconds to reduce the X-axis deviation to within 10 mm and the Y-axis deviation to within 8 mm.

[0070] Precision alignment stage: The speed of the X and Y axes is reduced to 5mm / s, taking about 2 seconds to reduce the deviation in the X direction to within 3mm and the deviation in the Y direction to within 2mm.

[0071] Attitude fine-tuning stage: stop translation, rise the Z-axis to the target height at 10mm / s, and adjust the pitch and roll axes at 1° / s, taking about 3 seconds.

[0072] The entire process took approximately 7.5 seconds, and the final alignment accuracy met the set requirements. The layered control strategy enabled the coarse alignment stage to quickly reduce deviations, the fine alignment stage to avoid overshoot, and the attitude fine-tuning stage to independently complete fine adjustments, with each stage having a clear division of labor.

[0073] The above description is merely a preferred embodiment of the present invention and does not limit the scope of the patent. Any equivalent structural modifications made based on the inventive concept of the present invention and the description and drawings, or any direct or indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

[0074] The various variations and specific examples of the methods provided in the above embodiments are also applicable to the system described in this embodiment. Through the foregoing detailed description of the methods, those skilled in the art can clearly understand the implementation method of the system in this embodiment. For the sake of brevity, they will not be described in detail here.

[0075] The present invention also discloses a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the method described above provided by the present invention. The computer program product should be understood as a software product that primarily implements its solution through a computer program, such as a program product integrated in the cloud or a software library.

[0076] This application provides a computer-readable storage medium, including, for example, any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM). The computer-readable storage medium stores a computer program that can be loaded by a processor and execute the methods described in the above embodiments.

[0077] In the description of this specification, the references to terms such as "an embodiment," "some embodiments," "example," "specific example," "a implementation," "a preferred implementation," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. 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.

[0078] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A transmitter-adaptive wireless charging coil spatial self-alignment system, characterized in that, include: Millimeter-wave radar module, used to detect the vertical distance Z of the receiving coil relative to the transmitting coil and the horizontal azimuth angle θ_yaw; An infrared array sensor is used to acquire the temperature distribution matrix of the transmitting coil region and extract the temperature centroid coordinates (Gx, Gy) and thermal field ellipse parameters. The power detection module is used to collect the input power and output power of the wireless charging system and calculate the power loss ΔP. A multi-degree-of-freedom mechanical platform is installed on the wireless charging transmitter to carry the transmitting coil and perform multi-degree-of-freedom active motion in space. The multi-degree-of-freedom includes: translation in the X direction, translation in the Y direction, lifting in the Z direction, pitch adjustment, and roll adjustment. The controller is connected to the multi-source sensing module and the multi-degree-of-freedom mechanical platform respectively. It is used to drive the multi-degree-of-freedom mechanical platform to move actively according to the position and orientation information of the receiving coil sensed by the multi-source sensing module, so as to minimize the position and orientation deviation between the transmitting coil and the receiving coil and realize spatial self-alignment.

2. The transmitter-adaptive wireless charging coil spatial self-alignment system as described in claim 1, characterized in that, The millimeter-wave radar module is a 60GHz frequency-modulated continuous wave radar, installed at the center of the transmitting coil. The method for extracting the vertical distance Z includes: performing a range FFT on the radar echo signal, extracting the range gate corresponding to the metal reflective surface of the receiving coil, and calculating the vertical distance Z based on the relationship between the speed of light and the time delay.

3. The transmitter-adaptive wireless charging coil spatial self-alignment system as described in claim 1, characterized in that, The infrared array sensor is an 8×8 pixel infrared array sensor, installed at the four corners of the outer periphery of the transmitting coil, with a field of view covering the entire coil area; the formula for calculating the temperature centroid coordinates (Gx, Gy) is: Gx = Σ(i·T_norm[i][j]) / ΣT_norm[i][j] Gy = Σ(j·T_norm[i][j]) / ΣT_norm[i][j] Where T_norm[i][j] is the normalized temperature value of pixel (i,j) relative to the ambient temperature.

4. The transmitter-adaptive wireless charging coil spatial self-alignment system as described in claim 2, characterized in that, The multi-degree-of-freedom mechanical platform includes: The X-axis translation component for realizing X-direction translation consists of a first drive motor, a first transmission screw and a first position sensor, wherein the first position sensor is used to provide real-time feedback of the X-axis displacement. The Y-axis translation component, which is slidably mounted on the X-axis translation component, consists of a second drive motor, a second transmission screw, and a second position sensor. The second position sensor is used to provide real-time feedback on the Y-axis displacement. The Z-axis lifting assembly installed on the Y-axis translation assembly consists of a third drive motor, a scissor-type lifting arm, and a third position sensor. The third position sensor is used to provide real-time feedback on the Z-axis height. The pitch adjustment assembly installed on the upper end of the Z-axis lifting assembly consists of a fourth drive motor, a worm gear reducer and a fourth angle sensor, the fourth angle sensor being used to provide real-time feedback of the pitch angle. The roll adjustment assembly installed on the pitch adjustment assembly consists of a fifth drive motor, a rotating bracket and a fifth angle sensor, the fifth angle sensor being used to provide real-time feedback of the roll angle. A transmitting coil mounting plate fixedly installed on the end effector of the roll adjustment assembly; The first to fifth position angle sensors are all electrically connected to the controller to form a fully closed-loop position feedback; the first to fifth drive motors are all electrically connected to the controller to receive control commands and execute movements of the corresponding degrees of freedom.

5. A transmitter-end adaptive wireless charging coil spatial self-alignment control method based on the system described in any one of claims 1-4, characterized in that, The method includes the following steps: Step S1: The six-degree-of-freedom pose of the receiving coil relative to the transmitting coil is sensed in real time through the multi-source sensing module. The six-degree-of-freedom pose includes: X-direction offset ΔX, Y-direction offset ΔY, vertical distance ΔZ, pitch angle θ_pitch, roll angle θ_roll, and azimuth angle θ_yaw. Step S2: The controller calculates the target position command for each motion axis of the multi-degree-of-freedom mechanical platform by solving inverse kinematics based on the sensed six-degree-of-freedom pose deviation. Step S3: The controller drives the multi-degree-of-freedom mechanical platform to move actively, so that the transmitting coil gradually approaches the pose of the receiving coil in the X, Y, Z, pitch, and roll directions; Step S4: Repeat steps S1 to S3 to form closed-loop control until all pose deviations fall within the preset allowable range; Step S5: When all pose deviations meet the allowable range and the continuous stable time exceeds the preset threshold, lock the position of the transmitting coil, send an alignment success signal, and allow wireless charging to start or continue.

6. The transmitter-adaptive wireless charging coil spatial self-alignment control method as described in claim 5, characterized in that, It also includes an active optimization scanning step: When the multi-source sensing module cannot clearly perceive the position and orientation of the receiving coil, or when the initial position and orientation deviation exceeds the range of motion of the mechanical platform, the controller drives the transmitting coil to actively search according to the preset spiral scanning trajectory. During the scanning process, the power loss ΔP is monitored in real time. When ΔP first falls below the preset threshold, the scanning stops and the system switches to closed-loop alignment mode.

7. The transmitter-adaptive wireless charging coil spatial self-alignment control method as described in claim 5, characterized in that, It also includes dynamic tracking steps during the charging process: During wireless charging, the controller continuously monitors the six-degree-of-freedom pose changes at a frequency of 10Hz; When the detected pose deviation exceeds the preset dynamic tracking threshold, the multi-degree-of-freedom mechanical platform is driven to make minor adjustments to maintain the optimal coupling state. When the pose deviation exceeds the safety threshold, charging will be immediately suspended and an alarm will be issued.

8. The transmitter-adaptive wireless charging coil spatial self-alignment control method as described in claim 7, characterized in that, During the movement of the transmitting coil, the controller monitors the current feedback values ​​of the motors on each axis of the multi-degree-of-freedom mechanical platform in real time; When the current of any axis motor exceeds the preset stall current threshold, it is determined that mechanical interference or collision has occurred. The controller immediately stops all movement, retracts the transmitting coil to a safe position, and issues a prompt message through the human-machine interface.

9. The transmitter-adaptive wireless charging coil spatial self-alignment control method as described in claim 8, characterized in that, In step S3, when the controller drives the multi-degree-of-freedom mechanical platform to move actively, a layered control strategy is adopted: when the absolute value of the offset in the X direction or the offset in the Y direction is greater than the first threshold, the controller controls the X-axis translation mechanism and the Y-axis translation mechanism to perform coarse alignment movement at the first speed; when the absolute values ​​of the offset in the X direction and the offset in the Y direction are both less than or equal to the first threshold and greater than the second threshold, the controller controls the X-axis translation mechanism and the Y-axis translation mechanism to perform fine alignment movement at the second speed, which is lower than the first speed; when the absolute values ​​of the offset in the X direction and the offset in the Y direction are both less than or equal to the second threshold, the controller stops the translation movement, starts the pitch adjustment mechanism and the roll adjustment mechanism to perform attitude fine adjustment, and at the same time starts the Z-axis lifting mechanism to adjust the vertical distance to the target value.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program; when the computer program is executed by a processor, it implements the transmitter adaptive wireless charging coil spatial self-alignment control method as described in any one of claims 4 to 9.

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