Electric bicycle wireless charging automatic stopping method and system based on real-time current detection

Abstract

The present application relates to electric bicycle wireless charging control technical field, disclose a kind of electric bicycle wireless charging automatic stop charging method and system based on real-time current detection, including acquisition transmitting side current and receiving side current, when receiving side current is lower than candidate threshold, generating stop charging candidate event;Perform pre-flow reduction detection, forward current collection detection and post-flow reduction detection, determine first, second link transfer relationship, and when link change meets condition, reconstruct virtual link transfer trajectory and transmitting side, receiving side virtual reference current trajectory;According to actual transmitting side increment, determine predicted receiving side increment, and form trajectory current collection gap based on predicted receiving side increment and actual receiving side increment;According to trajectory current collection gap, cancel stop charging candidate event or stop wireless power supply.The present application can reduce the influence of link drift and reference current change on stop charging judgment, improve the accuracy and reliability of automatic stop charging judgment.

Description

Technical Field

[0001] This invention relates to the field of wireless charging control technology for electric bicycles, and specifically to a method and system for automatically stopping wireless charging of electric bicycles based on real-time current detection. Background Technology

[0002] When electric bicycles use inductive wireless charging, the transmitting side generates an alternating magnetic field through a high-frequency inverter unit, a compensation network, and a transmitting coil. The receiving side supplies charging current to the power battery through a receiving coil, a compensation network, and a rectification and charging unit. During the charging process, the charging current on the receiving side can be used as a basis for monitoring the charging status and controlling the power supply.

[0003] A decrease in the receiving-side charging current can have various causes. As the battery approaches the end of its charging process, the allowable receiving current may gradually decrease. Positional misalignment between the transmitting and receiving coils, changes in resonant parameters with temperature rise, or alterations in the wireless transmission operating point can also lead to a decrease in the receiving-side current. Furthermore, current limiting or protection mechanisms in the battery management system, intermittent switching of the charging circuit, and abnormal current data communication can also manifest as a continuous or intermittent low current. Directly stopping charging when the receiving-side current falls below a fixed threshold carries the risk of interpreting a decrease in the wireless link's power supply capability as the battery entering a charging termination state.

[0004] By actively changing the wireless charging operating state and observing the current responses on the transmitting and receiving sides, the link transmission relationship near the current operating point can be obtained, and the receiver's response to additional power can be determined accordingly. During a low-current detection process, the wireless link may still drift slowly. When using a fixed link transmission relationship obtained at the start of detection to predict the entire detection process, the difference between the predicted value and the actual response may include both link drift and receiver-side current limiting, affecting the decision to stop charging. Furthermore, relying solely on changes in link parameters after the detection ends makes it difficult to obtain matching link transmission relationships at different times within the intermediate detection period.

[0005] When the power battery is in the final stage of constant voltage charging, the reference charging current under conditions without active disturbance may itself decrease slowly. When calculating the additional current on the receiving side using a single reference before detection, the natural change of the reference current will be included in the active response difference. Detection that increases power supply may also generate additional charging, requiring constraints to be established between detection amplitude, duration, and pre-current reduction detection and post-current reduction detection.

[0006] Therefore, this application provides a method and system for automatic charging stop of electric bicycle wireless charging based on real-time current detection to solve the above-mentioned technical problems. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic charging stop method and system for wireless charging of electric bicycles based on real-time current detection, in order to solve the technical problems in the prior art where it is difficult to distinguish the different causes of low current on the receiving side, and the impact of slow wireless link drift and natural changes in reference current on current collection judgment during the detection period.

[0008] To address the aforementioned technical problems, this invention provides a method for automatic charging stop of wireless charging for electric bicycles based on real-time current detection, comprising: Collect the transmitting side current and the receiving side current. When the receiving side current is lower than the candidate threshold, generate a charging stop candidate event. Perform pre-current drop detection, forward current collection detection, and post-current drop detection, and determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current drop detection and post-current drop detection, respectively; Compare the relative change in the transmission relationship between the first and second links with the change threshold. When the relative change does not exceed the change threshold, reconstruct the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter, and the virtual reference current trajectory of the receiver based on the transmission relationship between the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. The actual transmitter-side increment and the actual receiver-side increment are determined based on the virtual reference current trajectory of the transmitter and the virtual reference current trajectory of the receiver. The predicted receiver-side increment is determined based on the virtual link transmission trajectory and the actual transmitter-side increment. The positive deviation between the predicted receiver-side increment and the actual receiver-side increment is integrated and normalized to form the trajectory current collection gap. When the current collection gap in the trajectory is lower than the gap threshold, the candidate event for stopping charging is cancelled. When the current collection gap in the trajectory is not lower than the gap threshold after a preset number of consecutive attempts, wireless power supply is stopped.

[0009] In some specific embodiments, the transmitting side current and the receiving side current are collected, and when the receiving side current is lower than a candidate threshold, a charging stop candidate event is generated, which further includes: When the fluctuations of the transmitting-side current and the receiving-side current within the stable window are lower than the preset proportions of their respective average values, the transmitting-side reference current and the receiving-side reference current are recorded. Sampling continues when the fluctuation of the transmitting current within the stable window is not lower than a preset percentage of the average value of the transmitting current, or when the fluctuation of the receiving current within the stable window is not lower than a preset percentage of the average value of the receiving current. When the receiving current remains below the candidate threshold for a specified duration, a charging stop candidate event is generated. After generating a candidate event for charging stoppage, fix the operating frequency, compensation network status, and control parameters other than the transmitter current target. When the receiving current suddenly drops to a preset abnormal range, repeatedly drops to zero and recovers, or the receiving current data is continuously lost, the candidate event for stopping charging is terminated and wireless power supply is cut off.

[0010] In some specific embodiments, pre-current drop detection, forward current collection detection, and post-current drop detection are performed. The first and second link transmission relationships are determined based on the transmit-side current drop and receive-side current drop amounts from the pre-current and post-current drop detections, respectively. This further includes: Set up current reduction detection measurements of different amplitudes. Each current reduction detection sequentially performs reference holding, transmitter current reduction, stable sampling after transient end, and reference recovery. Based on the correspondence between the current drop on the transmitting side and the current drop on the receiving side in each current drop detection, local fitting is performed to form the first link transmission relationship and the second link transmission relationship respectively. If the local slopes of the front current drop detection and the rear current drop detection are in the same direction, the relative deviations of the local slopes of the front current drop detection relative to the first link transmission relationship and the relative deviations of the local slopes of the rear current drop detection relative to the second link transmission relationship are all within the preset allowable range, and the transmitting side current recovers to the transmitting side reference allowable range and the receiving side current recovers to the receiving side reference allowable range, the corresponding first link transmission relationship or second link transmission relationship is retained. If any condition is not met, the corresponding first link transmission relationship or second link transmission relationship is invalidated, and the forward current receiving detection data is invalidated.

[0011] In some specific embodiments, pre-current drop detection, forward current collection detection, and post-current drop detection are performed. The first and second link transmission relationships are determined based on the transmit-side current drop and receive-side current drop amounts from the pre-current and post-current drop detections, respectively. This further includes: In forward current detection, a target receiver increment is selected that is greater than the upper limit of the receiver current detection noise and does not exceed a preset proportion of the allowable charging current. The theoretical detection increment on the transmitting side is determined based on the target receiver increment and the first link transmission relationship; The theoretical detection increment of the transmitter is limited according to the allowable current, allowable power, allowable current of the coil, and rated limit of the charging circuit on the transmitter side, so as to obtain the actual detection increment on the transmitter side. Increase the transmitter current according to the actual detection increment on the transmitter side, record the transmitter current and receiver current during the stable sampling period, and restore the reference state before the forward current collection detection after the forward current collection detection is completed.

[0012] In some specific embodiments, when the relative change does not exceed a change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter, and the virtual reference current trajectory of the receiver are reconstructed based on the first and second link transmission relationship and the transmitter-side reference current and receiver-side reference current before and after forward current collection detection. This further includes: Using the end time of the pre-current fall detection and the start time of the post-current fall detection as the two ends of the time interval, the normalized time coefficient is determined according to the relative position of the forward current collection detection time in the time interval. Based on the normalized time coefficient, time-weighted interpolation is performed on the first link transmission relationship and the second link transmission relationship to obtain the virtual link transmission value at each forward current receiving detection moment; The virtual link transmission values ​​are arranged according to the forward current receiving detection time to form a virtual link transmission trajectory.

[0013] In some specific embodiments, when the relative change does not exceed a change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter, and the virtual reference current trajectory of the receiver are reconstructed based on the first and second link transmission relationship and the transmitter-side reference current and receiver-side reference current before and after forward current collection detection. This further includes: Based on the normalized time coefficient, time-weighted interpolation is performed on the transmitter-side reference current and receiver-side reference current before and after forward current collection detection to obtain the virtual transmitter-side reference current and virtual receiver-side reference current at each forward current collection detection moment. The virtual transmitter-side reference current and the virtual receiver-side reference current are arranged according to the forward current collection detection time, forming the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side, respectively.

[0014] In some specific embodiments, determining the predicted receiver increment based on the virtual link transmission trajectory and the actual transmitter-side increment further includes: The predicted receiver-side increment during forward current collection detection is integrated with the positive part to obtain the predicted new charge during forward current collection detection. The reduction in the receiving-side current relative to the reference state of the pre-current reduction detection is integrated to obtain the receiving-side charge reduction of the pre-current reduction detection. The reduction in the receiving-side current relative to the reference state of the post-current reduction detection is integrated to obtain the receiving-side charge reduction of the post-current reduction detection. The cumulative receiving-side charge reduction is determined based on the receiving-side charge reduction of the pre-current reduction detection and the receiving-side charge reduction of the post-current reduction detection. When the cumulative reduction in received charge is less than the predicted increase in charge, after completing the stable sampling required for fitting the second link transmission relationship, the post-current reduction holding period is extended until the cumulative reduction in received charge reaches the predicted increase in charge. When the cumulative reduction in received charge reaches the predicted increase in charge, restore the baseline state before the post-current reduction detection or stop wireless power supply, and exclude the extended period from the fitted data of the second link transmission relationship.

[0015] In some specific embodiments, when the trajectory current collection gap is lower than the gap threshold, the candidate event for stopping charging is cancelled; when the trajectory current collection gaps obtained for a consecutive preset number of times are not lower than the gap threshold, wireless power supply is stopped, further including: When the receiving current is higher than the candidate threshold and the charging system does not trigger current limiting control or hardware protection, the pre-current reduction detection, forward current collection detection and post-current reduction detection are repeatedly executed. The gap threshold is set based on the upper limit of the distribution of the obtained trajectory current collection gap, or based on the statistical mean and dispersion of the obtained trajectory current collection gap, and in combination with the safety margin. When the flow gap in a single trajectory is lower than the gap threshold, the candidate event for stopping charging is cancelled. When the current collection gap in a single trajectory is not lower than the gap threshold, a current collection restriction candidate state is formed, and the pre-current reduction detection, forward current collection detection, and post-current reduction detection are performed again after a preset interval. When the current collection restriction candidate state reaches a preset number of consecutive times, the charging is confirmed to be terminated.

[0016] In some specific embodiments, when the trajectory current-collecting gaps obtained for a consecutive preset number of times are not lower than the gap threshold, wireless power supply is stopped, further including: The transmitter current is reduced according to a preset slope. When the transmitter current enters the preset shutdown range, the high-frequency inverter drive is stopped and the transmitter power output is turned off. After stopping the high-frequency inverter drive, continue to monitor the transmitter side current. When the transmitter side current decreases to the preset power failure confirmation range within the preset allowable time, confirm that the charging stop is completed. When the transmitter side current does not decrease to the preset power failure confirmation range within the preset allowable time, disconnect the upstream isolation switch and record the charging stop execution abnormality. When the receiving current suddenly drops to a preset abnormal range, repeatedly drops to zero and recovers, the receiving current data is continuously lost, or the charging system triggers hardware protection, the process of reducing the transmitting current according to a preset slope is skipped and the wireless power supply is cut off.

[0017] Based on the same concept, the present invention also provides an automatic charging stop system for wireless charging of electric bicycles based on real-time current detection, comprising: The candidate event generation module is configured to collect the transmitting side current and the receiving side current, and generate a charging stop candidate event when the receiving side current is lower than the candidate threshold. The detection module is configured to perform pre-current reduction detection, forward current collection detection, and post-current reduction detection, and to determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current reduction detection and the post-current reduction detection, respectively. The data validity and trajectory reconstruction module is configured to compare the relative change in the transmission relationship between the first and second links with a change threshold. When the relative change does not exceed the change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter side, and the virtual reference current trajectory of the receiver side are reconstructed based on the transmission relationship between the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. The gap calculation module is configured to determine the actual transmitter-side increment and the actual receiver-side increment based on the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side, determine the predicted receiver-side increment based on the virtual link transmission trajectory and the actual transmitter-side increment, and perform integration and normalization processing based on the positive deviation between the predicted receiver-side increment and the actual receiver-side increment to form the trajectory current collection gap. The charging stop control module is configured to cancel the charging stop candidate event when the trajectory current collection gap is lower than the gap threshold, and to stop wireless power supply when the trajectory current collection gaps obtained for a consecutive preset number of times are not lower than the gap threshold.

[0018] Compared with existing technologies, its advantages are as follows: This invention discloses a method and system for automatic charging stop of electric bicycles via wireless charging based on real-time current detection. It generates charging stop candidate events by detecting low current on the receiving side and determines whether the candidate event is cancelled or wireless power supply stops based on the current gap in the trajectory formed by active detection. This allows low current triggering and normal charging stop judgment to use different data bases. When the first link transmission relationship and the second link transmission relationship meet the reconstruction conditions, the continuous current restriction is identified based on the receiving side's response to the actual transmitter's increment, reducing the impact of low current caused by changes in wireless link power supply on the normal charging stop judgment.

[0019] By obtaining the link transmission relationship before and after the forward current receiving detection through pre-current reduction detection and post-current reduction detection, and reconstructing the virtual link transmission trajectory in the middle period when the relative change does not exceed the change threshold, the post-detection results can participate in the response prediction at each moment of the forward current receiving detection, which can compensate for slow link drift within the applicable range.

[0020] Reconstructing the virtual reference current trajectories on both the transmitter and receiver sides, and determining the actual transmitter and receiver increments accordingly, reduces the impact of natural variations in the reference current during detection on the active response calculation. The predicted receiver increment is determined by the virtual link transmission trajectory and the actual transmitter increment, thus incorporating the actual applied transmitter disturbance into the current collection prediction process.

[0021] By integrating and normalizing the positive deviation between the predicted receiver increment and the actual receiver increment, a trajectory current collection gap is formed. Combined with the gap threshold established under normal current collection conditions and the charging termination judgment after multiple consecutive confirmations, the impact of local noise and short-term response fluctuations on the charging stop judgment can be reduced.

[0022] It also establishes charge closure constraints by predicting the amount of new charge and the charge reduction on the receiving side generated by the pre- and post-current reduction detection. When the cumulative charge reduction on the receiving side is insufficient, the post-current reduction holding period is extended, and the extended period is excluded from the fitting data of the second link transmission relationship, thereby limiting the additional charge generated by active diagnostic detection and maintaining the consistency of the data caliber of the pre- and post-link fitting. Attached Figure Description

[0023] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart illustrating some specific embodiments of the electric bicycle wireless charging automatic stop method based on real-time current detection of the present invention; Figure 2 This is a schematic diagram of the structure of the electric bicycle wireless charging automatic stop system based on real-time current detection in some specific embodiments of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] This embodiment applies to scenarios where wireless power supply is terminated during wireless charging of electric bicycles based on real-time collected transmitter and receiver current data. After the electric bicycle is parked at the wireless charging location, the transmitter coil establishes electromagnetic coupling with the receiver coil installed on the electric bicycle. The transmitter supplies power to the transmitter coil through a high-frequency inverter unit and a compensation network, while the receiver supplies charging current to the power battery through the receiver coil, the receiver compensation network, and the rectification and charging unit.

[0026] The charging environment in this embodiment may include a transmitter controller, a high-frequency inverter unit, a transmitter-side compensation network, a transmitter coil, a receiver coil, a receiver-side compensation network, a rectification and charging unit, a receiver controller, a transmitter-side current detection unit, and a receiver-side current detection unit. The transmitter controller is used to adjust the transmitter-side current target, and the receiver controller reads the receiver-side current flowing into the power battery charging circuit and transmits the receiver-side current data through the existing communication link of the charging system. The power battery's allowable charging current, the charging circuit's rated limits, and hardware protection signals can be provided by the existing interface of the charging unit.

[0027] The transmitter-side current referred to in this embodiment is the current obtained at a selected transmitter-side detection location during a single charging process. The detection location can be set in the transmitter-side DC input circuit, the high-frequency inverter output circuit, or the transmitter-side resonant branch. When using a high-frequency AC detection location, the effective current value within the statistical window can be used as the transmitter-side current; when using a DC input detection location, the filtered DC current can be used as the transmitter-side current. The same detection location and statistical caliber are used for the same detection and continuous confirmation process.

[0028] The receiving-side current referred to in this embodiment is the actual charging current delivered by the rectifier and charging unit to the power battery, and does not replace the receiving-side current in the power battery charging circuit with the current in the receiving coil.

[0029] Pre-current reduction detection and post-current reduction detection are located before and after forward current collection detection, respectively. By reducing the transmitter current near the reference state, a local correspondence is obtained between the decrease in transmitter current and the decrease in receiver current, forming a first link transmission relationship and a second link transmission relationship. Forward current collection detection increases the transmitter current within permissible current, power, and charging loop limits to detect the receiver's response to the increased power supply. The first and second link transmission relationships represent the small perturbation transmission relationships near the current operating point and are not equivalent to the fixed transmission efficiency of the wireless charging system across the entire power range.

[0030] The virtual link transmission trajectory is reconstructed from the first link transmission relationship and the second link transmission relationship according to the detection time. The virtual reference current trajectory on the transmitting side and the virtual reference current trajectory on the receiving side are reconstructed from the reference current on the transmitting side and the reference current on the receiving side before and after the forward current collection detection, respectively. During the forward current collection detection, the actual transmitting side increment and the actual receiving side increment are determined based on the changes in the actual transmitting side current and the actual receiving side current relative to the corresponding virtual reference current; the predicted receiving side increment is formed based on the virtual link transmission trajectory and the actual transmitting side increment. The portion of the predicted receiving side increment that is higher than the actual receiving side increment reflects the predicted current collection volume not reflected on the receiving side under the current link conditions, and is used to form the current collection gap in the trajectory.

[0031] Reference Figure 1 An automatic charging stop method for wireless charging of electric bicycles based on real-time current detection includes: S101: Collect the transmitting side current and the receiving side current. When the receiving side current is lower than the candidate threshold, generate a charging stop candidate event. S102, perform pre-current drop detection, forward current collection detection and post-current drop detection, and determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current drop detection and the post-current drop detection, respectively; S103, compare the relative change in the transmission relationship of the first and second links with the change threshold. When the relative change does not exceed the change threshold, reconstruct the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side based on the transmission relationship of the first and second links and the reference current of the transmitter side before and after the forward current detection. S104. Determine the actual transmitter-side increment and the actual receiver-side increment based on the virtual reference current trajectory of the transmitter and the virtual reference current trajectory of the receiver. Determine the predicted receiver-side increment based on the virtual link transmission trajectory and the actual transmitter-side increment. Perform integration and normalization based on the positive deviation between the predicted receiver-side increment and the actual receiver-side increment to form a trajectory current collection gap. S105, when the trajectory current collection gap is lower than the gap threshold, cancel the stop charging candidate event; when the trajectory current collection gap obtained for a consecutive preset number of times is not lower than the gap threshold, stop wireless power supply.

[0032] To provide a clearer explanation, the steps in the embodiments of the present invention are described in detail below: S101: Collect the transmitting side current and the receiving side current. When the receiving side current is lower than the candidate threshold, generate a charging stop candidate event. Furthermore, when the fluctuations of the transmitting-side current and the receiving-side current within the stable window are respectively lower than a preset proportion of their average values, the transmitting-side reference current and the receiving-side reference current are recorded.

[0033] The transmitting-side current detection unit and the receiving-side current detection unit respectively acquire current signals. After zero-point correction, range conversion, and filtering, current data is generated for stability assessment. The transmitting-side sampling frequency can be set to 2kHz to 20kHz, and the receiving-side sampling frequency can be set to 500Hz to 2kHz. The filtering window can be set to 5ms to 20ms. For example, the transmitting side samples at 5kHz, and the receiving side samples at 1kHz, generating current statistics through 10ms windows respectively. The pre-current reduction detection, forward current collection detection, and post-current reduction detection use the same filtering aperture.

[0034] A stabilization window can be a continuous 1-second sliding window. The average values ​​of the transmitting and receiving currents within the stabilization window are calculated separately, and the fluctuation is characterized by the range between the maximum and minimum values. For example, if the transmitting current fluctuation is less than 2% of the average transmitting current and the receiving current fluctuation is less than 3% of the average receiving current, the average transmitting and receiving currents are recorded as the current transmitting and receiving reference currents. The preset ratio can be determined based on current fluctuation records under rated operating conditions combined with measurement margins.

[0035] When the fluctuation of the transmitting current within the stable window is not lower than a preset percentage of the average value of the transmitting current, or when the fluctuation of the receiving current within the stable window is not lower than a preset percentage of the average value of the receiving current, the sliding window is updated and sampling continues.

[0036] During stability assessment, it is also possible to verify whether the average current on the transmitting side and the average current on the receiving side exceed the corresponding detection noise limit. When the average current on the receiving side enters the abnormal near-zero range, an abnormal cutoff process is performed. The stability reference record may include the transmitting side reference current, the receiving side reference current, the start and end times of the stability window, and the detection period identifier.

[0037] When the receiving current remains below the candidate threshold for a specified duration, a charging stop candidate event is generated.

[0038] The candidate threshold can be set to 5% to 15% of the target current, depending on the allowable target current for this charge, and the candidate duration can be set to 10 seconds to 120 seconds. For example, if the target charging current is 5A, the candidate threshold can be set to 0.5A and the candidate duration to 30 seconds. When the receiving current is below 0.5A, the duration is accumulated, and a charging stop candidate event is generated when the duration reaches 30 seconds. If the receiving current recovers to 0.5A or above before the duration reaches 30 seconds, the low current duration detection is repeated.

[0039] The charging termination candidate event is used to trigger current collection detection. Whether the power battery has reached the charging termination condition is determined by the subsequent trajectory current collection gap and continuous confirmation results. The candidate event can record the candidate start time, the receiving side current at the time of triggering, and the stable reference record. The candidate timing uses the measurement time corresponding to the valid measurement data on the receiving side to avoid the deviation in duration calculation caused by the concentrated arrival of communication messages or communication delays.

[0040] After generating a candidate event for charging stop, the operating frequency, compensation network status, and control parameters other than the transmitter current target are fixed.

[0041] When the charging system is undergoing frequency tracking, compensation network switching, or operating point search, current collection detection is implemented after adjustments are completed and a stable reference is regained. During detection, the operating frequency, compensation network switching status, and predetermined control parameters of the current closed loop are kept stable, while the transmitter-side current target is adjusted according to the needs of current reduction detection and forward current collection detection.

[0042] For example, the operating frequency can be selected as 85kHz within the device's rated operating range and remain stable during the current detection round. If hardware protection occurs or the charging circuit's permissible current changes during detection, the current detection round ends, and detection conditions are re-established after the current operating state stabilizes.

[0043] The transmitting and receiving sampled data are correlated according to the detection period identifier, detection phase, and relative time within the phase. The receiving controller can record the local timing start point of the phase and send the receiving sampled sequence with relative time; the transmitting side forms a common detection time axis based on the phase confirmation information. Communication delay can be compensated for by recording the timing of commands and confirmation messages. For example, the allowable pairing error can be set to 1ms, and sampling points exceeding the allowable pairing error will not participate in subsequent integration; a valid sampling sequence is formed when the valid paired data reaches the preset coverage requirement.

[0044] When the receiving current suddenly drops to a preset abnormal range, repeatedly drops to zero and recovers, or the receiving current data is continuously lost, the candidate event for stopping charging is terminated and wireless power supply is cut off.

[0045] The abnormal range can be set according to the receiver-side noise detection and the charging circuit protection behavior. For example, when the upper limit of the filtered receiver-side noise detection is 0.002A, 0A to 0.01A can be set as the abnormal near-zero range; when the receiver-side current decreases by more than 80% relative to the effective current before the sudden drop within 100ms and enters the abnormal near-zero range, the sudden drop condition is met.

[0046] When the receiving current slowly enters the low current range without a sudden drop, it continues to be processed according to the candidate threshold, candidate duration, and current detection process, and does not directly classify the slow low current change into the abnormal cut-off branch.

[0047] The repeated drop to zero and recovery can be determined based on the number of round trips between the abnormal near-zero range and the normal current range. For example, if there are two cycles within 2 seconds of entering the abnormal near-zero range and recovering above it, the condition for repeated drop to zero and recovery is met. The receiving side current message can be sent once every 100ms. If no valid data is received for three consecutive transmission cycles, 300ms can be used as the continuous data loss criterion. The specific number of cycles and duration are set according to the communication cycle, detection noise, and protection response requirements.

[0048] The abnormal branch outputs a wireless power cut-off command and clears the charging stop candidate event and continuous confirmation count. Abnormal cut-off status and normal charging termination status are recorded separately.

[0049] S102, perform pre-current drop detection, forward current collection detection and post-current drop detection, and determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current drop detection and the post-current drop detection, respectively; Furthermore, different current reduction detection measurements are set up, and each current reduction detection sequentially performs reference maintenance, transmitter current reduction, stable sampling after transient end, and reference recovery.

[0050] The current reduction detection range can be set according to the transmitter-side reference current, detection noise, and current adjustment resolution. Different current reduction detection ranges can be selected as 3% to 5% and 5% to 8% of the transmitter-side reference current. For example, when the transmitter-side reference current is 8A, current reduction detection ranges of 0.32A and 0.48A can be set respectively.

[0051] Each current drop detection includes a reference hold, a reduction in the transmitter current, stable sampling after the transient ends, and reference recovery. The current drop hold duration can be set from 50ms to 200ms. For example, a 100ms hold duration can be set, excluding 20ms of transient data, and using the subsequent 60ms of data to form the average current after the drop. The transient exclusion time can be determined based on the current step response records of the device at different permissible operating points. The pre-current drop detection and post-current drop detection use the same amplitude configuration, transient exclusion method, and stable sampling length.

[0052] Repeated recording screening and weighted fitting can also be used to detect flow at different amplitudes.

[0053] For each current drop measurement, multiple detections are performed. The mean values ​​of the current drop in the transmitting side and the receiving side are determined based on the corresponding current drop in the transmitting side and the receiving side for the same current drop measurement. The current drop deviation is determined based on the degree of deviation of the current drop in the transmitting side from the mean value of the current drop in the transmitting side and the receiving side from the mean value of the current drop in the receiving side. The reference recovery residual is determined based on the degree of deviation of the recovered transmitting side current from the transmitting side reference current and the recovered receiving side current from the receiving side reference current.

[0054] For example, the two current-dropping amplitudes of 0.32A and 0.48A were each repeated three times. Valid detection records of the same amplitude constitute a set of current-dropping amplitudes. The first set of precipitation detection amplitude groups In this record, the current drop on the transmitting side and the current drop on the receiving side are recorded as follows: and All values ​​are in amperes (A). The mean value of the transmit-side current drop within a group and the mean value of the receive-side current drop within a group are denoted as follows: and , No. The number of valid records for each set of fall current detection amplitude groups is denoted as: .

[0055] The deviation in the amount of decrease can be expressed as: ; The average current on the transmitting side and the average current on the receiving side after detection recovery are denoted as follows: and The transmitting-side reference current and the receiving-side reference current before detection are denoted as follows: and The baseline recovery residual can be expressed as: ; in, A preset positive number in A, for example, 0.000001A; and All are dimensionless quantities. Used to characterize the degree of deviation in the descent of each detection record within the same descent detection amplitude group. It is used to characterize the degree of deviation of the transmitting and receiving currents from the corresponding reference current after detection recovery.

[0056] Detection records that exceed the preset allowable range for descent deviation or baseline recovery residual are excluded.

[0057] The upper limit of the allowable current drop deviation can be determined based on the natural dispersion range of repeated detections and the detection error, for example, set to 0.20; the upper limit of the allowable baseline recovery residual can be set to 0.03. If any indicator exceeds the corresponding upper limit, the transmitting-side current record and the receiving-side current record of that test are treated as the same detection record and discarded. After discarding, the mean within the group of the remaining records is recalculated and the deviation is checked. If a record group that meets the requirements cannot be formed within the preset number of checks, the corresponding current drop detection amplitude group in this round is not considered a valid amplitude group.

[0058] The descent deviation and baseline recovery residual of the remaining detection records are normalized respectively. The fitting weight is determined based on the normalized descent deviation and baseline recovery residual. When the descent deviation or baseline recovery residual increases, the corresponding fitting weight decreases. The remaining detection records are then weighted and fitted based on the fitting weight to form the corresponding first link transmission relationship or second link transmission relationship.

[0059] Let the upper limit of the allowable deviation of the descent be The upper limit of the baseline recovery residual is The fitting weights can be expressed as: ; in, A positive number is preset for dimensionless values, for example, 0.001. The fitting weights can also be normalized based on the fitting weights of all retained records to obtain normalized fitting weights. The weighted link transmission relationship can be represented as: ; in, The unit is A². It is a dimensionless quantity. The preceding current descent detection record forms the first link transmission relationship, and the subsequent current descent detection record forms the second link transmission relationship.

[0060] The current reduction detection amplitude group whose remaining detection record count reaches the preset record count is determined as the effective amplitude group. When the number of effective amplitude groups is less than the preset number, the corresponding link transmission relationship is invalidated. When the number of effective amplitude groups reaches the preset number, the corresponding link transmission relationship is retained.

[0061] For example, the preset number of groups is set to 2, and each current reduction detection amplitude group retains at least 2 duplicate records. When a current reduction detection amplitude group has fewer than 2 remaining records, that current reduction detection amplitude group is not counted as a valid amplitude group; when there are 2 valid amplitude groups, the records corresponding to the valid amplitude groups are used to fit the link transmission relationship.

[0062] Based on the correspondence between the current drop on the transmitting side and the current drop on the receiving side in each current drop detection, local fitting is performed to form the first link transmission relationship and the second link transmission relationship respectively.

[0063] When using an unweighted implementation, the first The current drop on the transmitting side in this current reduction detection is determined based on the transmitting side reference current before the current reduction detection and the stable average current after the current reduction. The current drop on the receiving side is determined based on the receiving side reference current before the current reduction detection and the corresponding stable average current on the receiving side. The current drop on the transmitting side and the current drop on the receiving side of the secondary current-drop detection are denoted as follows: and All units are in A.

[0064] The first link transmission relationship can be represented as: ; The second link transmission relationship can be represented as: ; in, This is a valid set of records for forward fallout detection. This is a valid set of records for post-flow detection. It is a preset positive number in A², for example, 0.000001A²; and All are dimensionless quantities.

[0065] If the local slopes of the front current drop detection and the rear current drop detection are in the same direction, the relative deviations of the local slopes of the front current drop detection relative to the first link transmission relationship and the relative deviations of the local slopes of the rear current drop detection relative to the second link transmission relationship are all within the preset allowable range, and the transmitting side current recovers to the transmitting side reference allowable range and the receiving side current recovers to the receiving side reference allowable range, the corresponding first link transmission relationship or second link transmission relationship is retained. If any condition is not met, the corresponding first link transmission relationship or second link transmission relationship is invalidated, and the forward current receiving detection data is invalidated.

[0066] The local slope of a single current-drop detection is determined based on the corresponding drop in current on the receiving side and the drop in current on the transmitting side. If the drop in current on the transmitting side is higher than the detection resolution and the drop in current on the receiving side is higher than the upper limit of the detection noise, a local slope check is performed on the detection record. The relative deviation of the local slope of the pre-current-drop detection relative to the first link transmission relationship and the relative deviation of the local slope of the post-current-drop detection relative to the second link transmission relationship can each be set with a preset allowable range, for example, 20%.

[0067] The transmit-side allowable range and the receive-side allowable range can be set according to the corresponding reference current and detection error before detection. For example, the transmit-side allowable range can be set to ±2% of the transmit-side reference current, and the receive-side allowable range can be set to ±3% of the receive-side reference current. The upper limit of the reference recovery waiting time can be set to 1 second.

[0068] When the final post-current reduction detection needs to be extended, the data from a fixed stable sampling interval can be used to determine the second link transmission relationship, and the extended holding period is used for the accumulation of charge reduction on the receiving side. After the recovery check is completed, a judgment is submitted on whether to stop charging normally or continue charging; if charging has been confirmed to have terminated and wireless power supply is directly stopped, the current attenuation on the transmitting side is detected based on the charging stop execution process.

[0069] In forward current detection, a target receiver increment is selected that is greater than the upper limit of the receiver current detection noise and does not exceed a preset proportion of the allowable charging current.

[0070] The target receiver increment can be determined based on the upper limit of the filtered receiver current detection noise and the allowable charging current. For example, if the upper limit of the receiver current detection noise is 0.002A, the allowable charging current is 5A, and the preset ratio is 5%, the target receiver increment will be greater than 0.002A but not more than 0.25A, so 0.12A can be selected.

[0071] The permissible charging current can be determined by the rated limit of the charging circuit and the current permissible charging information. When the detection noise limit reaches the permissible detection increment limit, the current round of detection does not meet the safety identifiability condition, and the current round of normal current collection detection ends.

[0072] The theoretical detection increment on the transmitting side is determined based on the target receiver increment and the first link transmission relationship.

[0073] The theoretical detection increment on the transmitting side is determined based on the target receiver increment and the first link transmission relationship. Specifically, it is the target receiver increment divided by the first link transmission relationship and a dimensionless preset positive number. sum; The calculation result is used to limit the first link transmission relationship to near zero, for example, to 0.000001. The units for both the target receiver-side increment and the transmitter-side theoretical detection increment are in amperes (A).

[0074] When calculating the theoretical detection increment on the transmitting side, it is also possible to check whether the first link transitivity is higher than the minimum effective value determined by the detection noise and available disturbance amplitude, for example, 0.01. If the first link transitivity is lower than the minimum effective value, the current round of normal current collection detection ends.

[0075] The theoretical detection increment of the transmitter is limited by the allowable current, allowable power, allowable coil current, and rated limit of the charging circuit, so as to obtain the actual detection increment of the transmitter.

[0076] Each limitation can be converted into the upper limit of the available increment under the current transmitter-side detection aperture, and the actual detection increment of the transmitter-side can be determined based on the theoretical detection increment of the transmitter-side and the upper limits of each available increment. When the transmitter-side DC input current is used as the detection current, the available increment of the allowable current can be determined based on the allowable current and the transmitter-side reference current; the available increment of the allowable power can be determined based on the allowable input power, the current DC input voltage, and the transmitter-side reference current. The coil allowable current limit can be obtained through the existing current detection and current closed-loop rated conversion relationship of the equipment, and the rated limit of the charging circuit can be converted by combining the current allowable charging margin and the first link transmission relationship.

[0077] For example, when the DC input voltage is 48V, the allowable input current is 10A, the allowable input power is 480W, and the transmitter-side reference current is 8A, the available increments corresponding to the current and power limits are both 2A. When the remaining increment after the coil's allowable current is converted to 1.5A, the actual detection increment on the transmitter side does not exceed 1.5A. When the available increment corresponding to any limit reaches a state where forward current collection detection cannot be performed, the current round of normal current collection detection ends. After the limiting is completed, it is also possible to check whether the predictable receiver-side increment meets the identifiable requirements corresponding to the receiver-side current detection noise based on the first link transmission relationship.

[0078] Increase the transmitter current according to the actual detection increment on the transmitter side, record the transmitter current and receiver current during the stable sampling period, and restore the reference state before the forward current collection detection after the forward current collection detection is completed.

[0079] The forward hold duration can be set from 0.3s to 2s. After the transient ends, the transmitter-side current, receiver-side current, and pairing time are recorded during the stable sampling period. Current data during the forward increase, hold, and recovery processes can also be recorded simultaneously to calculate the predicted increase in charge during the forward current collection detection period.

[0080] After completing the forward current collection detection, restore the transmitter-side current target from before the forward current collection detection. Once the transmitter-side current and receiver-side current have entered a stable range, record the transmitter-side reference current and receiver-side reference current after the forward current collection detection. The restored reference current is allowed to drift slowly within the reference recovery range.

[0081] S103, compare the relative change in the transmission relationship of the first and second links with the change threshold. When the relative change does not exceed the change threshold, reconstruct the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side based on the transmission relationship of the first and second links and the reference current of the transmitter side before and after the forward current detection. Furthermore, the relative changes in the first link transmission relationship and the second link transmission relationship are compared with the change threshold.

[0082] When comparing the two link transmission relationships, the same transmitter-side detection position, receiver-side detection position, filter aperture, and operating frequency are used. Relative changes are calculated only when the detection conditions for the two link transmission relationships are identical.

[0083] The relative changes in the first link transmission relationship and the second link transmission relationship can be expressed as: ; in, It is a dimensionless relative change; Preset a positive number for dimensionless values, for example, 0.000001.

[0084] The change threshold can be set based on repeated detection records under fixed operating conditions. When the receiving side has normal current collection capability and the charging system maintains a stable operating state, multiple pre-current reduction detections and post-current reduction detections are performed. The change threshold is determined based on the upper bound of the distribution of the obtained relative change, combined with measurement and environmental change margins. For example, if the upper bound of the relative change in normal repeated records is 0.10, and the reserved margin is 0.05, the change threshold can be set to 0.15.

[0085] When the relative change does not exceed the change threshold, the forward current detection data of this round is retained, as well as the first link transmission relationship, the second link transmission relationship, the transmitter reference current and receiver reference current before and after the forward current detection, and the corresponding time information.

[0086] For the same round of trajectory reconstruction, the first link transmission relationship and the second link transmission relationship corresponding to the same detection period identifier, as well as the transmitter-side reference current and receiver-side reference current before and after the forward current collection detection, are used. The source window and stage time corresponding to each reference current are recorded to avoid combining link transmission relationships or reference current endpoints from different detection periods. When the detection period identifier is inconsistent or any reconstruction endpoint is missing, the forward current collection detection data for this round is determined to be invalid data, and historical endpoints from other detection periods are not used to complete the trajectory reconstruction.

[0087] When the relative change exceeds the change threshold, the current-current detection data for this round is discarded. This round of data is not included in the normal charging stop continuous confirmation. While the charging system is still in the detection-allowed state, a new complete detection cycle can be implemented after the operating state stabilizes again and the transmitter-side reference current and receiver-side reference current are re-obtained.

[0088] The relatively small changes in the first and second link transmission relationships are used to determine whether the endpoints are suitable for reconstructing link changes within the current detection cycle. It can also check for operating point jumps, periodic zeroing, or protection switching in the transmitter and receiver current sequences during forward current collection detection. If an operating point jump, periodic zeroing, or protection switching occurs during an intermediate detection period, the forward current collection detection data for this round will be discarded, even if the relative changes in the first and second link transmission relationships do not exceed a change threshold.

[0089] If the detection data is invalidated and the charging system does not trigger hardware protection or abnormal disconnection conditions, the current fixed operating state can be released, allowing frequency tracking or operating point search to resume operation. After the new operating point stabilizes, the transmitter-side reference current and receiver-side reference current are re-obtained, and a complete detection is re-implemented. During the re-implementation of detection, the first link transmission relationship is re-determined, and the first or second link transmission relationship of the invalid detection cycle is not reused.

[0090] You can also set an upper limit for the number of invalid probes, for example, to 3 times. When the number of consecutive invalid probes reaches the upper limit, the current state is determined to be unsatisfactory, the wireless power supply is cut off according to the abnormal detection status, and the reason is recorded.

[0091] The system can also save the change thresholds for different stable operating points. When the operating frequency, compensation network status, and transmitter reference current enter the established operating point range, the change threshold for the corresponding operating point is read. If no corresponding operating point threshold is established, the change threshold can be established based on the effective detection records under normal current collection conditions at that operating point.

[0092] Using the end time of the preceding flow reduction detection and the start time of the subsequent flow reduction detection as the two ends of the time interval, the normalized time coefficient is determined based on the relative position of the forward flow receiving detection time within the time interval.

[0093] The starting point is the end time recorded after the preceding current reduction detection is completed and the baseline is restored. The endpoint is defined as the start time of the baseline holding phase after the downstream current probe enters the baseline holding phase. Forward current collection detection time The corresponding normalized time coefficient is: ; in, , and The units are all in seconds (s). It is a dimensionless quantity. Greater than Furthermore, when the forward current detection time falls within the corresponding time interval, an effective normalized time coefficient is formed.

[0094] For example, if the starting point is 0s, the ending point is 0.6s, and the forward current collection detection time is 0.3s, the normalized time coefficient is 0.5. The normalized time coefficient is determined based on the actual recorded stage time.

[0095] Based on the normalized time coefficient, time-weighted interpolation is performed on the first link transmission relationship and the second link transmission relationship to obtain the virtual link transmission value at each forward current receiving detection time. The virtual link transmission values ​​are arranged according to the forward current receiving detection time to form a virtual link transmission trajectory.

[0096] The virtual link transmission value at each forward current receiving probe moment can be expressed as: ; in, These are dimensionless virtual link transmission values. When both the first and second link transmission relationships are valid, virtual link transmission values ​​are generated according to the forward current receiving detection times and arranged by time.

[0097] The virtual link transfer value is reconstructed based on the first link transfer relationship formed by the pre-current reduction detection and the second link transfer relationship formed by the post-current reduction detection, without backfitting the virtual link transfer value based on the actual receiver increment during the forward current collection detection period. This ensures that the phenomenon of the receiver not fully receiving the predicted new current during the forward current collection detection period continues to be reflected in the difference between the actual receiver increment and the predicted receiver increment, and serves as the basis for calculating the trajectory current collection gap.

[0098] When the sampling frequencies on the transmitting and receiving sides differ, the filtered current statistics can be aligned to a common sampling grid. For example, with a common sampling grid interval of 1ms, the transmitting side data forms statistics within the corresponding grid window, and the receiving side data is paired based on the effective measurement time. In cases of short-term data loss, time pairing is only performed within the continuous interval of effective data, without long-distance interpolation across communication failure intervals. When the effective sampling coverage reaches a preset requirement, a valid sampling sequence for subsequent integration is formed; for example, the effective sampling coverage can be set to no less than 95%. If the effective sampling coverage is lower than the preset requirement, the integration data for this round is discarded.

[0099] Based on the normalized time coefficient, time-weighted interpolation is performed on the transmitter-side reference current and receiver-side reference current before and after forward current collection detection to obtain the virtual transmitter-side reference current and virtual receiver-side reference current at each forward current collection detection time. The virtual transmitter-side reference current and virtual receiver-side reference current are arranged according to the forward current collection detection time to form the transmitter-side virtual reference current trajectory and the receiver-side virtual reference current trajectory, respectively.

[0100] The transmitting-side reference current and the receiving-side reference current before forward current collection detection are denoted as follows: and The transmitting-side reference current and the receiving-side reference current after forward current detection are denoted as follows: and The units are all in amperes (A). The virtual transmitter-side reference current and the virtual receiver-side reference current can be expressed as: ; ; For example, the transmitter-side reference current before forward current collection detection is 8A, and the transmitter-side reference current after forward current collection detection is 7.98A; the receiver-side reference current before forward current collection detection is 0.45A, and the receiver-side reference current after forward current collection detection is 0.44A. When the normalized time coefficient is 0.5, the virtual transmitter-side reference current is 7.99A, and the virtual receiver-side reference current is 0.445A.

[0101] The transmitting-side reference current and the receiving-side reference current are time-weighted interpolated separately. An effective virtual reference current trajectory is formed when the difference between the reference current before and after forward current collection is within the allowable range of the corresponding reference recovery and drift.

[0102] Under operating conditions with repeatable slow drift records, a monotonic time weighting function can also be used to form the link transmission trajectory and the virtual reference current trajectory. The time weighting function corresponds to 0 at the beginning of the time interval and 1 at the end of the time interval, and is used simultaneously for reconstructing the link transmission relationship, the transmitter-side reference current, and the receiver-side reference current.

[0103] S104. Determine the actual transmitter-side increment and the actual receiver-side increment based on the virtual reference current trajectory of the transmitter and the virtual reference current trajectory of the receiver. Determine the predicted receiver-side increment based on the virtual link transmission trajectory and the actual transmitter-side increment. Perform integration and normalization based on the positive deviation between the predicted receiver-side increment and the actual receiver-side increment to form a trajectory current collection gap. Furthermore, the actual transmitter-side reference current and the actual receiver-side reference current are determined based on the virtual transmitter-side reference current and the virtual receiver-side reference current at the same positive current detection moment, respectively.

[0104] Let the actual transmitting-side current at the same forward current collection and detection moment be... The actual receiving side current is Then the actual transmit-side increment and the actual receive-side increment are respectively: ; ; in, , , , , and The units are all A.

[0105] The actual transmitter-side increment is determined using the actually measured transmitter-side current and the virtual transmitter-side reference current at the same moment, and is not directly replaced by the control command value corresponding to the actual transmitter-side detection increment. The actual receiver-side increment is determined using the actually measured receiver-side current and the virtual receiver-side reference current at the same moment.

[0106] During the stable sampling period of forward current collection detection, the trajectory current collection gap is calculated when the actual transmitter-side increment reaches the preset identifiable lower limit. When the actual transmitter-side increment is continuously negative, the actual transmitter-side increment is lower than the preset identifiable lower limit, or other current limiting controls cover the transmitter-side current target, the current forward current collection detection does not form an effective transmitter-side excitation, and the judgment of the normal trajectory current collection gap in this round is invalidated. Short-time deviations within the detection noise range can be absorbed by subsequent positive part processing.

[0107] The predicted receiver increment is determined based on the virtual link transmission value and the actual transmitter increment. The trajectory current collection gap is obtained by integrating the positive deviation of the predicted receiver increment from the actual receiver increment over a stable sampling period, using the positive integral of the predicted receiver increment as a normalization benchmark.

[0108] The predicted receiver increment can be expressed as: ; in, The unit for predicting the receiver-side increment is A.

[0109] Define the positive part operation The stable sampling period for forward current detection is denoted as The trajectory is affected by the flow gap. It can be represented as: ; in, For dimensionless trajectory current receiving gap, The numerator is a preset positive number in C, for example, 0.000001C. The numerator is the positive deviation integral of the predicted receiver increment being higher than the actual receiver increment, and the denominator is the normalized scale formed by the positive integral of the predicted receiver increment during the stable sampling period and the preset positive number.

[0110] Integrating the positive deviation after applying positive part processing can prevent the actual receiver increment at a local sampling point from offsetting the current collection gap at other sampling points when it is higher than the predicted receiver increment. When the actual receiver increment is lower than the state corresponding to the virtual receiver reference current, the trajectory current collection gap can be greater than 1. Therefore, the trajectory current collection gap is not limited to the range of 0 to 1.

[0111] In digital implementation, the positive deviation and the positive part of the predicted receiver increment can be discretely integrated over the effective sampling interval. Rectangular integration can be used for equally spaced sampling, while trapezoidal integration can be used when the changes are rapid and the paired data is complete. When the effective coverage of the integration meets the preset requirements, a current-pass flow gap is formed.

[0112] Conservative predictions can also be constructed based on the degree of dispersion of local slopes in the pre- and post-current flow detection.

[0113] The local slopes of the pre-current reduction detection are determined based on the correspondence between the current drop on the transmitting side and the current drop on the receiving side in the pre-current reduction detection. The local slopes of the post-current reduction detection are determined based on the correspondence between the current drop on the transmitting side and the current drop on the receiving side in the post-current reduction detection.

[0114] The starting point transmission error limit is determined based on the deviation of each local slope of the preceding current-dropping detector relative to the first link transmission relationship, and the ending point transmission error limit is determined based on the deviation of each local slope of the subsequent current-dropping detector relative to the second link transmission relationship.

[0115] Let the local slope of the pre-flow detector be... The local slope of the post-current fall detection is Error limits can be established based on the maximum absolute deviation of each local slope relative to the corresponding link transmission relationship and the measurement margin: ; ; in, Transmit the error limit as the starting point. The endpoint is used to transmit error limits. For the purpose of measurement margin, all three are dimensionless quantities. The measurement margin can be set according to the propagation range of the transmitting-side current detection error and the receiving-side current detection error relative to the current drop detection quantity, for example, 0.0005.

[0116] Based on the relative position of each forward current collection detection moment within the time interval from the end of the preceding current reduction detection moment to the start of the subsequent current reduction detection moment, time-weighted interpolation is performed on the starting point transmission error limit and the ending point transmission error limit to obtain the transmission error limit for each forward current collection detection moment.

[0117] The propagation error limits at each forward current collection detection moment can be expressed as: ; in, This is the dimensionless propagation error limit corresponding to the forward current detection moment.

[0118] Based on the transmission error limit, the corresponding value of the virtual link transmission trajectory is conservatively corrected, and the correction result is limited by a preset lower limit to obtain the conservative link transmission value; the conservative predicted receiver increment is determined based on the conservative link transmission value and the actual transmitter-side increment, and the trajectory current collection gap is calculated based on the conservative predicted receiver-side increment.

[0119] The conservative link transmission value can be represented as: ; in, For dimensionless conservative link transmission values, The lower limit is preset for dimensionless quantities, and can be set to 0.

[0120] The conservatively predicted receiver increment can be expressed as: ; in, The incremental forecast for the receiving side is conservatively estimated, and the unit is A.

[0121] When calculating the trajectory current collection gap using conservatively predicted receiver-side increments, the predicted receiver-side increment in the trajectory current collection gap formula uses conservatively predicted receiver-side increments, and the gap threshold is recalibrated using normal current collection records generated using the same conservative prediction method. A valid conservative prediction result is formed when the predicted new charge corresponding to the conservatively predicted receiver-side increment reaches a preset identifiable requirement; if the predicted new charge is lower than the preset identifiable requirement, the trajectory current collection gap judgment corresponding to this round of conservative prediction is invalidated.

[0122] The predicted incremental charge for charge closure is based on a nominal prediction or a prediction upper bound that meets the compensation requirements, in order to maintain the active detection charge compensation constraint.

[0123] The predicted receiver-side increment during forward current collection detection is integrated with the positive part to obtain the predicted new charge during forward current collection detection. The decrease in receiver-side current relative to the reference state during forward current collection detection is integrated to obtain the charge reduction during forward current collection detection. The decrease in receiver-side current relative to the reference state during backward current collection detection is integrated to obtain the charge reduction during backward current collection detection. The cumulative charge reduction during forward current collection detection is determined based on the charge reduction during forward current collection detection and the charge reduction during backward current collection detection.

[0124] The complete positive current collection detection period is denoted as The predicted increase in charge can be expressed as: ; in, The unit for predicting the amount of new charge is C. This includes the effective time period during which the actual transmission-side increment is positive during the positive increase, maintenance, and recovery processes. Its range can be greater than the stable sampling period used in the trajectory current collection gap calculation. .

[0125] The charge reduction on the receiving side of the pre-current fall detector and the charge reduction on the receiving side of the post-current fall detector can be expressed as follows: ; ; in, The effective period for advance precipitation detection. To allow for subsequent downflow detection and, if necessary, extend the corresponding effective time period; This refers to the receiving-side reference current corresponding to the pre-current reduction detection. This is the receiving-side reference current corresponding to the post-current reduction detection. and The unit for all values ​​is C.

[0126] The cumulative charge reduction on the receiving side is determined based on the charge reduction on the receiving side of the pre-current fall detector and the charge reduction on the receiving side of the post-current fall detector.

[0127] When the cumulative reduction in received charge is less than the predicted increase in charge, the post-current reduction holding period is extended after the stable sampling required to complete the fitting of the second link transmission relationship, until the cumulative reduction in received charge reaches the predicted increase in charge.

[0128] The charge closure condition can be expressed as: ; After the fixed and stable sampling of the post-current reduction detection is completed, the receive-side charge reduction of the post-current reduction detection is updated under the current post-current reduction state. The extended hold ends when the cumulative receive-side charge reduction reaches the predicted increase in charge. The extended hold is constrained by the allowable operating range of the charging system; for example, an extension limit of 2 seconds can be set. If sufficient cumulative receive-side charge reduction is not achieved even after the extended hold reaches the extension limit, normal diagnostics ends and a safety disconnection is performed.

[0129] When the cumulative reduction in received charge reaches the predicted increase in charge, restore the baseline state before the post-current reduction detection or stop wireless power supply, and exclude the extended period from the fitted data of the second link transmission relationship.

[0130] If the normal charging termination condition has not yet been met, restore the transmitter-side current target before the post-current reduction detection and check the recovery status of the transmitter-side current and receiver-side current. If the normal charging termination condition has been met, execute wireless power supply stop after the charge closure is satisfied. The second link transmission relationship is formed using the fixed stable sampling data before the extended holding period, and the extended holding period is only used for the accumulation of receiver-side charge reduction.

[0131] S105, when the trajectory current collection gap is lower than the gap threshold, cancel the stop charging candidate event; when the trajectory current collection gaps obtained for a consecutive preset number of times are not lower than the gap threshold, stop wireless power supply.

[0132] Furthermore, when the receiving current is higher than the candidate threshold and the charging system does not trigger current limiting control or hardware protection, the pre-current reduction detection, forward current collection detection and post-current reduction detection are repeatedly executed. The gap threshold is set based on the upper limit of the distribution of the obtained trajectory current collection gap, or based on the statistical mean and dispersion of the obtained trajectory current collection gap, and in combination with the safety margin.

[0133] The gap threshold is established under normal current collection conditions. Each round of normal reference records employs the same pre-current reduction detection, forward current collection detection, post-current reduction detection, data validity judgment, trajectory reconstruction, and trajectory current collection gap calculation methods as for the charging stop candidate event. Invalid detection records are not included in the gap threshold statistics.

[0134] When using the upper bound of the distribution to determine the gap threshold, the gap threshold can be determined based on the maximum value of the trajectory current-collecting gap in the valid normal reference records combined with the safety margin. When using the statistical mean and dispersion to determine the gap threshold, the gap threshold can be determined based on the mean, standard deviation, preset multiple, and safety margin of the trajectory current-collecting gap in the valid normal reference records. For example, if 10 rounds of valid normal reference records are collected, the mean of the trajectory current-collecting gap is 0.08, the standard deviation is 0.04, the preset multiple is 3, and the safety margin is 0.10, then the gap threshold is 0.30.

[0135] The safety margin can be determined based on the transmitter-side current detection error, receiver-side current detection error, time pairing error, and differences in normal operating points. When different prediction methods are used or the filtering window is changed, normal reference records are re-established under the corresponding calculation method. If the number of normal reference records is insufficient, valid reference records continue to be acquired during the charging phase that meets the normal current collection conditions; if valid normal reference records that meet the preset number requirements cannot be obtained, the current state is determined to be insufficient for the gap threshold calibration conditions, and normal charging termination judgment is not performed based on a single trajectory current collection gap.

[0136] When the flow gap in a single trajectory is lower than the gap threshold, the candidate event for stopping charging is cancelled.

[0137] When the effective trajectory current gap is below the gap threshold, the charging stop candidate event is canceled and the current limit continuous count is cleared, and the charging system resumes normal charging control. When the receiving side current again meets the charging stop candidate event triggering condition, the charging stop candidate event can be regenerated and a full detection can be performed. Before resuming normal charging control, the corresponding charge closure and reference recovery checks are completed.

[0138] When the current collection gap in a single trajectory is not lower than the gap threshold, a current collection restriction candidate state is formed, and the pre-current reduction detection, forward current collection detection, and post-current reduction detection are performed again after a preset interval. When the current collection restriction candidate state reaches a preset number of consecutive times, the charging is confirmed to be terminated.

[0139] The repeated detection interval can be set from 5s to 30s, and the number of consecutive confirmations can be set to at least 2. For example, if the repeated detection interval is set to 10s and the preset number of confirmations is 2, after the first acquisition of a trajectory current-carrying gap that is not lower than the gap threshold, the charge closure and state recovery are completed. After an interval of 10s, a stable reference is reacquired and a new complete detection is performed. If the second effective trajectory current-carrying gap is still not lower than the gap threshold, the charging is confirmed to have terminated.

[0140] The continuous confirmation count is updated only based on records that meet the requirements of detection effectiveness, transmitter-side excitation sufficiency, and detection execution integrity. When the receiver-side current recovers to above the candidate threshold, the current low-current candidate process ends; when an effective current-collecting gap below the gap threshold is obtained, the continuous confirmation count is cleared; when a invalid detection record appears, the current continuous confirmation count is also cleared, and the two current-collecting restriction candidate states before and after the invalid detection record are not concatenated into a continuous confirmation result. An abnormal cutoff is performed when abnormal cutoff conditions occur.

[0141] The transmitter current is reduced according to a preset slope. When the transmitter current enters the preset shutdown range, the high-frequency inverter drive is stopped and the transmitter power output is turned off.

[0142] After confirming the termination of charging, the target transmitter current is reduced according to the allowable current change rate of the device. The preset slope is set based on the allowable shutdown transients of the high-frequency inverter unit, current closed loop, and compensation network. For example, when the current transmitter current is 8A, the reduction slope can be set to 16A / s, and the preset shutdown range is 0A to 0.2A. When the actual transmitter current enters the preset shutdown range, the high-frequency inverter drive is stopped and the transmitter power output is turned off.

[0143] When the actual transmitter current does not decrease according to the preset slope, or when the charging system triggers hardware protection during the process of reducing the transmitter current, the normal descent process ends and the wireless power supply is cut off.

[0144] After stopping the high-frequency inverter drive, the transmitter side current is continuously monitored. When the transmitter side current decreases to the preset power failure confirmation range within the preset allowable time, the charging stop is confirmed to be complete. When the transmitter side current does not decrease to the preset power failure confirmation range within the preset allowable time, the upstream disconnecting switch is disconnected and the charging stop execution abnormality is recorded.

[0145] The preset allowable duration can be set according to the power circuit energy storage decay time and detection window, for example, set to 1 second. The preset power failure confirmation range is set to 0A to 0.02A, and the transmitter-side current is required to remain within the preset power failure confirmation range for 100ms. When the power failure confirmation condition is met, the charging stop is recorded as complete and the transmitter-side power output is kept off. If the power failure confirmation condition is not met within the preset allowable duration, the upstream isolating switch is opened, and the charging stop execution anomaly and the actual transmitter-side current are recorded.

[0146] When the receiving current suddenly drops to a preset abnormal range, repeatedly drops to zero and recovers, the receiving current data is continuously lost, or the charging system triggers hardware protection, the process of reducing the transmitting current according to a preset slope is skipped and the wireless power supply is cut off.

[0147] When abnormal disconnection conditions are met, the probe current target is removed, the high-frequency inverter drive and transmitter power output are stopped, and the upstream disconnect switch is controlled according to equipment safety requirements. After abnormal disconnection, the transmitter current decay and protection status continue to be recorded to distinguish between the control command output status and the actual power failure status.

[0148] When a candidate event ends, detection data becomes invalid, or the charge stop execution is completed, the diagnostic record for this round can be written to the controller's existing cyclic record area. The diagnostic record can include the detection cycle identifier, relative stage time, transmitter-side reference current, receiver-side reference current, current statistics, first link transmission relationship, second link transmission relationship, relative change, data validity marker, trajectory current collection gap, gap threshold, predicted new charge amount, cumulative receiver-side charge reduction, number of consecutive confirmations, and reasons for charge stop execution anomalies. Once the cyclic record area reaches its capacity, earlier complete records can be overwritten in chronological order. For example, the cyclic record area can store the most recent 128 rounds of complete detection records, and the maintenance interface will not change the currently executing transmitter-side current target, gap threshold, or protection status when reading the diagnostic record.

[0149] The following set of example data illustrates the calculation and execution process of the above method. The example data is used to illustrate the technical relationships.

[0150] The allowable charging current is set at 5A, the candidate threshold at 0.5A, and the candidate duration at 30s. The transmitter uses a DC input current as its current, and the transmitter and receiver are sampled at 5kHz and 1kHz respectively, with a 10ms filtering window. The stabilization window is 1s, with transmitter current fluctuations below 2% of the average transmitter current and receiver current fluctuations below 3% of the average receiver current. A transmitter reference current of 8A and a receiver reference current of 0.45A are obtained. If the receiver current remains below 0.5A for 30s, a charging stop candidate event is generated, and the current operating frequency and compensation network status are fixed.

[0151] The pre-current reduction detector reduced the transmitting-side current by 0.32A and 0.48A respectively, resulting in a receiving-side current reduction of 0.026A and 0.038A, corresponding to local slopes of approximately 0.08125 and 0.07917 respectively. Based on the preceding current reduction detection data, the first link transmission relationship is determined to be approximately 0.079807.

[0152] The upper limit for receiver-side current detection noise is 0.002A. A target receiver-side increment of 0.12A is selected, which is lower than 0.25A (5% of the allowable charging current). Based on the target receiver increment and the first link transmission relationship, the theoretical detection increment on the transmitter side is determined to be approximately 1.5036A.

[0153] Assuming the DC input voltage is 48V, the allowable input current is 10A, and the allowable input power is 480W, the available increments corresponding to the current limit and power limit are both 2A. The minimum increment limit after conversion of the coil allowable current and charging circuit limit is 1.5A. Therefore, the actual detection increment on the transmitting side is taken as 1.5A, and the positive stable sampling time is taken as 0.30s.

[0154] After the forward current collection detection was restored, the transmit-side reference current was 7.98A and the receive-side reference current was 0.44A, both within the corresponding reference allowable range. The post-current reduction detection used the same current reduction amplitude and a fixed sampling aperture, and the receive-side current reduction was 0.02608A and 0.03912A, respectively, with a second link transmission relationship of approximately 0.0815.

[0155] The relative change obtained from the first and second link transmission relationships is approximately 0.0212. When the change threshold is set to 0.15, the relative change does not exceed the change threshold. Therefore, the trajectory reconstruction is performed using the first and second link transmission relationships.

[0156] Assume the end time of the pre-current reduction detection is 0s, the start time of the post-current reduction detection is 0.6s, and the positive stable sampling period is from 0.15s to 0.45s. At 0.3s, the normalized time coefficient is 0.5, the virtual transmitter reference current is 7.99A, and the virtual receiver reference current is 0.445A.

[0157] For ease of explanation, assume that the actual transmitter increment remains at 1.5A during the stable sampling period, and the virtual link transmission value changes during the stable sampling period, with an average value of approximately 0.080654, corresponding to a predicted average receiver increment of approximately 0.120981A.

[0158] In one current-collecting scenario, the actual receiving-side increment is 0.111A. (The last part, "take...", seems to be a typo and can be left as is.) Based on the predicted and actual receiver increments during the stable sampling period, the trajectory current collection gap is calculated to be approximately 0.0825. Assuming a gap threshold of 0.30 for the normal current collection reference record, 0.0825 is below the gap threshold. After completing the charge closure and recovery checks in this round, the candidate event for stopping charging is cancelled, and charging continues.

[0159] Charge closure uses complete forward current collection probe data. The predicted incremental charge during the stable sampling period is approximately 0.036294C, and the positive increase and recovery process generates an additional 0.0012C of predicted incremental charge. The predicted incremental charge for complete forward current collection probe is approximately 0.037494C.

[0160] Assuming the equivalent receiving-side charge integration time for each current reduction is 0.10s, the receiving-side charge reduction during the pre-current reduction detection is 0.0064C, the receiving-side charge reduction during the fixed-holding phase of the post-current reduction detection is approximately 0.00652C, and the cumulative receiving-side charge reduction is 0.01292C. Compared with the predicted increase in charge, approximately 0.024574C still needs to be compensated.

[0161] Maintaining the final post-current reduction state, with a receiver-side current reduction of approximately 0.03912A, the expected extended hold time is approximately 0.6282s. In actual execution, the cumulative receiver-side charge reduction is updated based on the receiver-side current integration result, and the extended hold ends when the cumulative receiver-side charge reduction reaches the predicted increase in charge. The extended hold data is not used in the fitting of the second link transmission relationship.

[0162] In another current collection scenario, the actual receiver increment is 0.035A, while the predicted average receiver increment remains approximately 0.120981A, resulting in a current collection gap of approximately 0.7107. When 0.7107 is not lower than 0.30, a current collection limitation candidate state is formed. After completing charge closure and resuming the charging state, a complete detection is performed again after a 10-second interval. If the second valid current collection gap is still not lower than 0.30, and the preset number of attempts is 2, charging is confirmed to have terminated.

[0163] After confirming the termination of charging, the transmitter-side current can be reduced at a preset slope of 16A / s. When the transmitter-side current enters the preset shutdown range of 0A to 0.2A, the high-frequency inverter drive is stopped and the transmitter-side power output is turned off. Within 1 second after stopping the high-frequency inverter drive, if the transmitter-side current enters the preset power-off confirmation range of 0A to 0.02A and remains there for 100ms, the charging stop is confirmed to be complete. If the preset power-off confirmation range is not reached within the preset allowable time, the upstream isolation switch is disconnected and the charging stop execution abnormality is recorded.

[0164] When using conservative prediction, if the starting point transmission error limit is 0.001 and the ending point transmission error limit is 0.0012, then with a normalized time coefficient of 0.5, the transmission error limit is 0.0011, the conservative link transmission value is approximately 0.079554, and the conservative prediction receiver-side increment is approximately 0.119331A. When calculating the trajectory current collection gap using conservative prediction receiver-side increment, the gap threshold established using the same conservative prediction method is used; charge closure is still determined according to the nominal predicted new charge amount or the upper bound of the prediction that meets the compensation requirements.

[0165] For the purpose of simplicity, the method steps disclosed in the above embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0166] like Figure 2 As shown, the present invention also provides an automatic charging stop system for wireless charging of electric bicycles based on real-time current detection, comprising: The candidate event generation module 201 is configured to collect the transmitting side current and the receiving side current, and generate a charging stop candidate event when the receiving side current is lower than the candidate threshold. The detection module 202 is configured to perform pre-current reduction detection, forward current collection detection and post-current reduction detection, and determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current reduction detection and the post-current reduction detection, respectively. The data validity and trajectory reconstruction module 203 is configured to compare the relative change in the transmission relationship of the first and second links with the change threshold. When the relative change does not exceed the change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side are reconstructed based on the transmission relationship of the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. The gap calculation module 204 is configured to determine the actual transmitter-side increment and the actual receiver-side increment based on the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side, determine the predicted receiver-side increment based on the virtual link transmission trajectory and the actual transmitter-side increment, and perform integration and normalization processing based on the positive deviation between the predicted receiver-side increment and the actual receiver-side increment to form the trajectory current collection gap. The charging stop control module 205 is configured to cancel the charging stop candidate event when the trajectory current receiving gap is lower than the gap threshold, and to stop wireless power supply when the trajectory current receiving gaps obtained for a consecutive preset number of times are not lower than the gap threshold.

[0167] It is worth noting that although only some basic functional modules are disclosed in the embodiments of this invention, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. The fact that this embodiment only discloses a few basic functional modules should not be considered as the scope of protection of this invention being limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above devices are described separately according to their functions as various units and modules. Of course, in implementing this invention, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic charging stop of wireless charging for electric bicycles based on real-time current detection, characterized in that, include: Collect the transmitting side current and the receiving side current. When the receiving side current is lower than the candidate threshold, generate a charging stop candidate event. Perform pre-current drop detection, forward current collection detection, and post-current drop detection, and determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current drop detection and post-current drop detection, respectively; Compare the relative change in the transmission relationship between the first and second links with the change threshold. When the relative change does not exceed the change threshold, reconstruct the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter, and the virtual reference current trajectory of the receiver based on the transmission relationship between the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. The actual transmitter-side increment and the actual receiver-side increment are determined based on the virtual reference current trajectory of the transmitter and the virtual reference current trajectory of the receiver. The predicted receiver-side increment is determined based on the virtual link transmission trajectory and the actual transmitter-side increment. The positive deviation between the predicted receiver-side increment and the actual receiver-side increment is integrated and normalized to form the trajectory current collection gap. When the current collection gap in the trajectory is lower than the gap threshold, the candidate event for stopping charging is cancelled. When the current collection gap in the trajectory is not lower than the gap threshold after a preset number of consecutive attempts, wireless power supply is stopped.

2. The method for automatic charging stop of wireless charging of electric bicycles based on real-time current detection according to claim 1, characterized in that, The system collects the transmitting-side current and the receiving-side current. When the receiving-side current falls below a candidate threshold, a charging stop candidate event is generated, which further includes: When the fluctuations of the transmitting-side current and the receiving-side current within the stable window are lower than the preset proportions of their respective average values, the transmitting-side reference current and the receiving-side reference current are recorded. Sampling continues when the fluctuation of the transmitting current within the stable window is not lower than a preset percentage of the average value of the transmitting current, or when the fluctuation of the receiving current within the stable window is not lower than a preset percentage of the average value of the receiving current. When the receiving current remains below the candidate threshold for a specified duration, a charging stop candidate event is generated. After generating a candidate event for charging stoppage, fix the operating frequency, compensation network status, and control parameters other than the transmitter current target. When the receiving current suddenly drops to a preset abnormal range, repeatedly drops to zero and recovers, or the receiving current data is continuously lost, the charging stop candidate event is terminated and the wireless power supply is cut off.

3. The method for automatic charging stop of electric bicycle wireless charging based on real-time current detection according to claim 1, characterized in that, Performing pre-current drop detection, forward current collection detection, and post-current drop detection, and determining the first and second link transmission relationships based on the transmit-side current drop and receive-side current drop amounts from the pre-current and post-current drop detections, respectively, further includes: Set up current reduction detection measurements of different amplitudes. Each current reduction detection sequentially performs reference holding, transmitter current reduction, stable sampling after transient end, and reference recovery. Based on the correspondence between the current drop on the transmitting side and the current drop on the receiving side in each current drop detection, local fitting is performed to form the first link transmission relationship and the second link transmission relationship respectively. If the local slopes of the front current drop detection and the rear current drop detection are in the same direction, the relative deviations of the local slopes of the front current drop detection relative to the first link transmission relationship and the relative deviations of the local slopes of the rear current drop detection relative to the second link transmission relationship are all within the preset allowable range, and the transmitting side current recovers to the transmitting side reference allowable range and the receiving side current recovers to the receiving side reference allowable range, the corresponding first link transmission relationship or second link transmission relationship is retained. If any condition is not met, the corresponding first link transmission relationship or second link transmission relationship is invalidated, and the forward current receiving detection data is invalidated.

4. The method for automatic charging stop of electric bicycle wireless charging based on real-time current detection according to claim 1, characterized in that, Performing pre-current drop detection, forward current collection detection, and post-current drop detection, and determining the first and second link transmission relationships based on the transmit-side current drop and receive-side current drop amounts from the pre-current and post-current drop detections, respectively, further includes: In forward current detection, a target receiver increment is selected that is greater than the upper limit of the receiver current detection noise and does not exceed a preset proportion of the allowable charging current. The theoretical detection increment on the transmitting side is determined based on the target receiver increment and the first link transmission relationship; The theoretical detection increment of the transmitter is limited according to the allowable current, allowable power, allowable current of the coil, and rated limit of the charging circuit on the transmitter side, so as to obtain the actual detection increment on the transmitter side. Increase the transmitter current according to the actual detection increment on the transmitter side, record the transmitter current and receiver current during the stable sampling period, and restore the reference state before the forward current collection detection after the forward current collection detection is completed.

5. The method for automatic charging stop of electric bicycle wireless charging based on real-time current detection according to claim 1, characterized in that, When the relative change does not exceed the change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter, and the virtual reference current trajectory of the receiver are reconstructed based on the transmission relationship of the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. This further includes: Using the end time of the pre-current fall detection and the start time of the post-current fall detection as the two ends of the time interval, the normalized time coefficient is determined according to the relative position of the forward current collection detection time in the time interval. Based on the normalized time coefficient, time-weighted interpolation is performed on the first link transmission relationship and the second link transmission relationship to obtain the virtual link transmission value at each forward current receiving detection moment; The virtual link transmission values ​​are arranged according to the forward current receiving detection time to form a virtual link transmission trajectory.

6. The method for automatic charging stop of wireless charging of electric bicycles based on real-time current detection according to claim 5, characterized in that, When the relative change does not exceed the change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter, and the virtual reference current trajectory of the receiver are reconstructed based on the transmission relationship of the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. This further includes: Based on the normalized time coefficient, time-weighted interpolation is performed on the transmitter-side reference current and receiver-side reference current before and after forward current collection detection to obtain the virtual transmitter-side reference current and virtual receiver-side reference current at each forward current collection detection moment. The virtual transmitter-side reference current and the virtual receiver-side reference current are arranged according to the forward current collection detection time, forming the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side, respectively.

7. The method for automatic charging stop of wireless charging of electric bicycles based on real-time current detection according to claim 1, characterized in that, Determining the predicted receiver increment based on the virtual link transmission trajectory and the actual transmitter-side increment also includes: The predicted receiver-side increment during forward current collection detection is integrated with the positive part to obtain the predicted new charge during forward current collection detection. The reduction in the receiving-side current relative to the reference state of the pre-current reduction detection is integrated to obtain the receiving-side charge reduction of the pre-current reduction detection. The reduction in the receiving-side current relative to the reference state of the post-current reduction detection is integrated to obtain the receiving-side charge reduction of the post-current reduction detection. The cumulative receiving-side charge reduction is determined based on the receiving-side charge reduction of the pre-current reduction detection and the receiving-side charge reduction of the post-current reduction detection. When the cumulative reduction in received charge is less than the predicted increase in charge, after completing the stable sampling required for fitting the second link transmission relationship, the post-current reduction holding period is extended until the cumulative reduction in received charge reaches the predicted increase in charge. When the cumulative reduction in received charge reaches the predicted increase in charge, restore the baseline state before the post-current reduction detection or stop wireless power supply, and exclude the extended period from the fitted data of the second link transmission relationship.

8. The method for automatic charging stop of wireless charging of electric bicycles based on real-time current detection according to claim 1, characterized in that, When the current collection gap in the trajectory is lower than the gap threshold, the candidate event for stopping charging is cancelled. When the current collection gap in the trajectory is not lower than the gap threshold for a consecutive preset number of times, wireless power supply is stopped, which further includes: When the receiving current is higher than the candidate threshold and the charging system does not trigger current limiting control or hardware protection, the pre-current reduction detection, forward current collection detection and post-current reduction detection are repeatedly executed. The gap threshold is set based on the upper limit of the distribution of the obtained trajectory current collection gap, or based on the statistical mean and dispersion of the obtained trajectory current collection gap, and in combination with the safety margin. When the flow gap in a single trajectory is lower than the gap threshold, the candidate event for stopping charging is cancelled. When the current collection gap in a single trajectory is not lower than the gap threshold, a current collection restriction candidate state is formed, and the pre-current reduction detection, forward current collection detection, and post-current reduction detection are performed again after a preset interval. When the current collection restriction candidate state reaches a preset number of consecutive times, the charging is confirmed to be terminated.

9. The method for automatic charging stop of wireless charging of electric bicycles based on real-time current detection according to claim 1, characterized in that, When the current-collecting gaps in the trajectory obtained after a preset number of consecutive iterations are all not lower than the gap threshold, wireless power supply is stopped, further including: The transmitter current is reduced according to a preset slope. When the transmitter current enters the preset shutdown range, the high-frequency inverter drive is stopped and the transmitter power output is turned off. After stopping the high-frequency inverter drive, continue to monitor the transmitter side current. When the transmitter side current decreases to the preset power failure confirmation range within the preset allowable time, confirm that the charging stop is completed. When the transmitter side current does not decrease to the preset power failure confirmation range within the preset allowable time, disconnect the upstream isolation switch and record the charging stop execution abnormality. When the receiving current suddenly drops to a preset abnormal range, repeatedly drops to zero and recovers, the receiving current data is continuously lost, or the charging system triggers hardware protection, the process of reducing the transmitting current according to a preset slope is skipped and the wireless power supply is cut off.

10. An automatic charging stop system for wireless charging of electric bicycles based on real-time current detection, characterized in that, include: The candidate event generation module is configured to collect the transmitting side current and the receiving side current, and generate a charging stop candidate event when the receiving side current is lower than the candidate threshold. The detection module is configured to perform pre-current reduction detection, forward current collection detection, and post-current reduction detection, and to determine the first and second link transmission relationships based on the current drop on the transmitting side and the current drop on the receiving side of the pre-current reduction detection and the post-current reduction detection, respectively. The data validity and trajectory reconstruction module is configured to compare the relative change in the transmission relationship between the first and second links with a change threshold. When the relative change does not exceed the change threshold, the virtual link transmission trajectory, the virtual reference current trajectory of the transmitter side, and the virtual reference current trajectory of the receiver side are reconstructed based on the transmission relationship between the first and second links and the reference current of the transmitter side and the reference current of the receiver side before and after the forward current detection. The gap calculation module is configured to determine the actual transmitter-side increment and the actual receiver-side increment based on the virtual reference current trajectory of the transmitter side and the virtual reference current trajectory of the receiver side, determine the predicted receiver-side increment based on the virtual link transmission trajectory and the actual transmitter-side increment, and perform integration and normalization processing based on the positive deviation between the predicted receiver-side increment and the actual receiver-side increment to form the trajectory current collection gap. The charging stop control module is configured to cancel the charging stop candidate event when the trajectory current collection gap is lower than the gap threshold, and to stop wireless power supply when the trajectory current collection gaps obtained for a consecutive preset number of times are not lower than the gap threshold.

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