Method for determining the relative position of a stationary induction charging device in relation to a mobile induction charging device

Abstract

The present invention relates to a method for determining the relative position of a stationary induction charging device (2, 2a) in relation to a mobile induction charging device (2, 2b), which devices interact with one another during a charging operation for inductive energy transfer. Precise and robust determination of the relative position of energy coils (3) of the induction charging devices (2) in relation to one another is achieved in that, relative to one of the energy coils (3), at least two fixed positioning fields (60) are generated, the positioning fields (60) are received at a location that is fixed relative to the other energy coil (3), and the ratio (62) between the positioning fields (60) is determined, wherein, when the determined ratio (62) corresponds to a previously specified ratio range (63), an overlap of the two energy coils (3) is identified. The invention also relates to a computer program product for carrying out the method, to a system (1) which is operated in this way, and to a mobile application (100) comprising a mobile induction charging device (2, 2a) of a system (1) of this kind. In addition, the invention relates to a stationary induction charging device (2, 2a) of a system (1) of this kind.

Description

[0001] Method for detecting the relative position of a stationary induction charging device to a mobile induction charging device

[0002] The present invention relates to a method for detecting the relative position of a stationary induction charging device to a mobile induction charging device, which interact with each other during charging operation for inductive energy transfer. The invention also relates to a computer program product for implementing the method, a system having a stationary induction charging device and a mobile induction charging device, which is operated according to the method, and a mobile application, in particular a motor vehicle, having a mobile induction charging device of such a system and a stationary induction charging device of such a system.

[0003] A system for inductive energy transfer typically comprises a stationary induction charging device and a mobile induction charging device. During charging, an energy coil of one of the induction charging devices acts as a primary coil, and the energy coil of the other induction charging device acts as a secondary coil. Such systems are typically used for inductive energy transfer to a mobile application, for example, a motor vehicle, wherein the mobile application comprises the mobile induction charging device. In mobile applications, the energy coil of the mobile induction charging device is usually the secondary coil during charging. For inductive energy transfer, the primary coil generates an alternating magnetic field, which induces a voltage in the secondary coil.To enable inductive energy transfer and increase the efficiency of inductive energy transfer, the primary coil and the secondary coil, and thus the energy coils of the inductive charging devices, must be positioned accordingly relative to each other. EP 2 727 759 B1 uses a transmitter and a receiver to detect the relative position of a mobile inductive charging device mounted on a motor vehicle.

[0004] DE 10 2012 205283 A1 proposes to use an even number of detector coil elements which are wound in opposite pairs and form a detector pair.

[0005] EP 3 347 230 B1 proposes using a transmitting unit in the mobile induction charging device, which, during operation, emits a transmission signal at a predetermined frequency. The transmission signal at the predetermined frequency is received by a receiving unit, and a signal component of the transmission signal is determined. A relative position is determined based on the determined signal component.

[0006] DE 10 2017 215 932 B3 describes a method for determining position information of a motor vehicle on a surface. The motor vehicle has a mobile induction charging device. By energizing the energy coil of the mobile induction charging device, at least one magnetic structure arranged in or on a surface traveled by the motor vehicle is magnetized. The structure is stored in a digital map together with a position information of the respective structure, whereby the position of the motor vehicle is determined based on the magnetized structure.

[0007] The present invention is concerned with the object of providing improved or at least different embodiments for a method for detecting the relative position of a stationary induction charging device to a mobile induction charging device, for a computer program product for carrying out the method, for a system operated in this way with a stationary induction charging device to a mobile induction charging device and a mobile application with a mobile induction charging device of such a system and for a stationary induction charging device of such a system, which in particular eliminate disadvantages of the prior art.In particular, the present invention is concerned with the object of providing improved or at least different embodiments for the method, for the computer program product, for the system as well as for the mobile application and for the stationary induction charging device, which are characterized by increased precision and / or increased robustness of the detection of the relative positioning of the energy coils of the system.

[0008] This object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0009] The present invention is therefore based on the general idea of ​​generating at least two distinguishable fields, fixed relative to the energy coil, for one of the energy coils in order to detect the relative position between two energy coils. These fields are received at a position fixed relative to the other energy coil. The relative position of the two energy coils to one another is detected based on the ratio between the received fields. Due to the fixed arrangement of the fields relative to one energy coil on the one hand and the reception of the fields at a location fixed relative to the other energy coil on the other hand, the ratio changes depending on the relative position of the energy coils to one another. Thus, for example, the energy coils are arranged overlapping one another given a predetermined ratio of the fields.In this way, the relative position of the energy coils and, in particular, an overlapping arrangement of the energy coils relative to one another can be determined in a simple and effective manner. Since field ratios are used to detect the relative position of the energy coils relative to one another, a reliable and simple determination of the relative position is provided, particularly in comparison to determinations of absolute field values ​​or propagation time differences of at least one field known from the prior art. This is due in particular to the fact that the ratio of the received fields does not change, or only changes slightly, when the distance changes in the height direction. This means, for example, that mobile induction charging devices in associated applications can be installed at different heights and / or stationary induction charging devices can be installed or arranged at different heights or depths.arranged and the relative position of the energy coils to each other can still be detected without further calibration.

[0010] As explained, using the ratio to detect the relative position of the energy coils to one another has the particular advantage of eliminating the need for repeated calibration of inductive charging devices that inductively transfer energy to one another. This means that at least one ratio can be predetermined in advance, and upon determining such a ratio from the received fields, it is recognized that a corresponding relative position of the energy coils to one another exists. In this way, it is particularly possible to transmit said predetermined ratios either once from the induction charging device generating the fields, preferably before positioning starts, to the receiving induction charging device in order to determine the relative position of the energy coils to one another.Alternatively and preferably, the ratios are fixed, so that the predetermined ratio is stored in the receiving induction charging device and thus no transmission to the receiving induction charging device is necessary. This allows, in particular, the relative position between energy coils of different stationary induction charging devices and different mobile induction charging devices to be determined in a simple and robust manner without prior calibration. According to the inventive concept, a method is used to detect the relative position of a stationary induction charging device to a mobile induction charging device, wherein the stationary induction charging device has a stationary energy coil and the mobile induction charging device has a mobile energy coil. The energy coils are spaced apart from one another in a vertical direction during charging operation.During charging, one of the energy coils generates an alternating magnetic field, which induces a voltage in the other energy coil for energy transfer. During charging, the energy coils are vertically spaced from one another. To detect the relative position of the energy coils, at least two fields are generated in one of the induction charging devices, which are also referred to below as positioning fields. The positioning fields are generated in such a way that they are distinguishable from one another, and in such a way that the energy coil of the associated induction charging device, i.e., the induction charging device that generates the positioning fields, is fixedly positioned relative to the positioning fields.Furthermore, the positioning fields are generated such that the energy coil lies at least partially within a virtual frame volume delimited by at least two intensity maxima of at least two of the positioning fields and extending in the height direction. The positioning fields are received at at least one position fixed to the energy coil of the other induction charging device. A ratio range is predetermined for the local ratio between at least two of the proximity fields. The predetermined ratio range is such that the energy coil of the induction charging device receiving the positioning fields is arranged in the frame volume. This means that a ratio range of at least two of the received positioning fields is predetermined for which the energy coil of the induction charging device receiving the positioning fields is arranged in the frame volume.To detect the relative position of the energy coils to each other, the ratio between at least two of the received positioning fields is determined. It is recognized that the energy coils are arranged within the frame volume and overlap transversely to the vertical direction if at least one of the at least one determined ratio lies within the associated predefined ratio range.

[0011] The detection of the relative position of the energy coils to each other is advantageously carried out by comparing at least one determined ratio with the associated ratio range.

[0012] Preferably, at least one ratio range is stored. This simplifies the implementation of the method.

[0013] It is advisable for at least two of the positioning fields, in particular all positioning fields, to overlap in the frame volume.

[0014] Positioning can involve bringing the energy coils closer together, as well as precisely positioning them relative to one another, hereinafter also referred to as near-field positioning. The positioning device described here is expediently used for near-field positioning. Near-field positioning is advantageously used when the energy coils are spaced apart by less than 1.0 m, preferably less than 0.5 m, in order to position them precisely relative to one another. At least one proximity field can be used to bring the energy coils closer together.

[0015] The respective power coil preferably has at least one winding. Within the scope of the present invention, the extension of the power coil is understood to mean, in particular, the entire area spanned by the at least one winding. In the case of a flat coil, the central region, in which no winding may be present, also belongs to the power coil.

[0016] The positioning fields can be generated in any way in the induction charging device that generates the positioning fields.

[0017] Advantageously, at least one of the positioning fields, preferably the respective positioning field, is a magnetic and / or electromagnetic field.

[0018] Preferably, at least one of the positioning fields, preferably the respective positioning field, is a magnetic field. This means that at least one of the positioning fields, preferably the respective positioning field, is generated as a magnetic positioning field. A magnetic positioning field has the advantage over an electromagnetic positioning field that the receiver receives the positioning field more easily and reliably. Furthermore, this makes it possible to dispense with calibration, which is required, for example, in the case of propagation time differences, as is usually the case with electromagnetic and / or acoustic fields. The magnetic positioning field thus enables a simplified and robust determination of the conditions and thus the relative position of the energy coils to one another.In particular, the elimination of calibration required for each positioning operation also means that positioning can be performed between different induction charging devices. In other words, the use of magnetic positioning fields allows for simple implementation of positioning with different induction charging devices.

[0019] Preferably, a main axis of the respective positioning field runs along the height direction. The respective positioning field is therefore at least predominantly distributed in or along the height direction and can thus be received transversely to the height direction only locally in the area of ​​the associated transmitting coil and energy coil, i.e., essentially on or in the immediate vicinity of the energy coil. Thus, the positioning fields are used to determine the relative position locally and thus close to the stationary induction charging device, i.e., when the mobile induction charging device has already approached the stationary induction charging device. Such main axes have the advantage that the relative position can be determined more precisely, in particular because the respective volume is more precisely defined.Secondly, this prevents or at least reduces overlaps between positioning fields of adjacent induction charging devices perpendicular to the vertical direction, for example, of adjacent stationary induction charging devices. This, in turn, leads to more precise determination of the relative position as well as simplified, interference-reduced, and reliable operation of multiple adjacent induction charging devices, for example, of adjacent stationary induction charging devices.

[0020] Advantageously, a coil is provided for each positioning field, which is also referred to below as a transmitting coil. Thus, the induction charging device, which generates at least two positioning fields, preferably has at least two transmitting coils, namely a corresponding transmitting coil for each positioning field.

[0021] The main axis of a positioning field running along the vertical direction is advantageously achieved by winding the associated transmitting coil around a winding axis running parallel or substantially parallel to the vertical direction. The transmitting coil thus has at least one conductor track through which current flows during operation, which is wound around the winding axis running parallel or substantially parallel to the vertical direction. At least one of the transmitting coils can be the energy coil of the associated induction charging device.

[0022] Preferably, the transmitting coils are different from the energy coil of the associated induction charging device.

[0023] The fixed position of the positioning fields, especially the intensity maxima, relative to the energy coil can be achieved in any way.

[0024] Advantageously, the fixed position of the positioning fields, in particular the intensity maxima, to the energy coil of the associated induction charging device is achieved by a corresponding positioning of the transmitting coils.

[0025] In principle, the relative position of the energy coils to each other can be detected during charging.

[0026] Preferably, the detection of the relative position of the energy coils to one another takes place outside of the charging operation, i.e. in an operating mode different from the charging operation, which is also referred to below as positioning operation.

[0027] The positioning operation is advantageously started or initiated when a predetermined distance between the induction charging devices is exceeded transversely to the height direction.

[0028] Preferably, one of the induction charging devices, preferably the mobile induction charging device, sends a ping signal, which is received by the other induction charging device. Upon receipt of the ping signal, positioning operation is initiated. Positioning operation is advantageously terminated when the energy coils are aligned with each other. Once the energy coils are aligned with each other, charging operation can begin.

[0029] The reception of the positioning fields in the other induction charging device can be done in any way.

[0030] Advantageously, the induction charging device receiving the positioning fields has at least one receiver fixed to the associated energy coil, which interacts with the positioning fields of the other induction charging device.

[0031] It is particularly conceivable that the induction charging device has a single such receiver.

[0032] In principle, at least one receiver can be designed in any way.

[0033] For example, at least one of the at least one receiver can have at least one coil, hereinafter also referred to as a receiving coil. It is conceivable that at least one of the at least one receiver is such a receiving coil.

[0034] At least one of the at least one receiving coil can correspond to the energy coil of the associated induction charging device. This means that the energy coil of the induction charging device can be used as an energy coil during charging mode and as a receiving coil for detecting positioning, i.e., during detection mode.

[0035] Advantageously, the energy coil of the receiving induction charging device is different from the at least one receiving coil. The induction charging devices are used for inductive energy transfer, with one of the energy coils acting as the primary coil and the other as the secondary coil during charging. In particular, energy is transferred inductively from the stationary induction charging device to the mobile induction charging device. Variants in which the mobile induction charging device transfers energy inductively to the stationary induction charging device are also conceivable. Bidirectional energy transfer is also conceivable.

[0036] The mobile induction charging device is preferably attached to an associated mobile device, in particular a motor vehicle. Preferably, energy is inductively transferred to the device by means of the mobile induction charging device, for example, to charge a battery of the device, in particular of the motor vehicle.

[0037] In preferred embodiments, a tolerance is permitted for at least one of the at least one ratio ranges. This allows, in particular, the use of the same stationary induction charging device with mobile induction charging devices arranged at different heights in the associated application, i.e., at different distances in the vertical direction. In particular, it is thus possible to achieve reliable and robust detection of the relative position of the energy coils to one another when using the mobile induction charging device in motor vehicles of different heights, for example, in a sports car, an SUV, or a truck.

[0038] Alternatively or additionally, it is conceivable to predefine corresponding ratio ranges for different distances between the energy coils in the vertical direction during charging operation. Embodiments in which a virtual target volume extending in the vertical direction is defined within the frame volume are considered advantageous, such that the energy coil of the induction charging device generating the positioning fields is located at least partially within the target volume. Furthermore, at least one of the ratio ranges is predetermine such that the energy coil of the induction charging device receiving the positioning fields is arranged in the target volume. Thus, if a ratio is determined in the ratio range associated with the target volume, it is recognized that the energy coils within the target volume overlap transversely to the vertical direction.Because the target volume is smaller than the frame volume, greater precision is achieved in detecting the relative position of the energy coils. This also makes it possible to align the energy coils more precisely relative to each other.

[0039] In principle, the frame volume and / or the target volume can be chosen arbitrarily.

[0040] The frame volume and the target volume are expediently selected in such a way that high efficiencies are achieved when the energy coils overlap within the frame volume or the target volume during charging operation.

[0041] Preferably, the frame volume and / or the target volume is selected such that an efficiency of at least 90% is achieved with an overlapping arrangement of the energy coils within the volume during charging operation.

[0042] In this case, respective ratio ranges can be assigned to the frame volume and the target volume. The at least one ratio range assigned to the target volume is expediently narrower than the at least one ratio range assigned to the frame volume. For example, at least one of the at least one ratio ranges assigned to the target volume can be between 1:0.1 and 0.1:1.

[0043] For example, at least one of the at least one ratio ranges associated with the frame volume may be between 10:0.05 and 0.05:10.

[0044] In preferred embodiments, at least two of the opposing intensity maxima are assigned a direction. This allows, in particular, to detect that the energy coils overlap in this direction.

[0045] Accordingly, preferred embodiments are those in which the positioning fields are generated such that the intensity maxima of at least two positioning fields are arranged opposite one another in a longitudinal direction running transversely to the height direction, wherein these positioning fields are also referred to below as longitudinal positioning fields. Furthermore, an associated ratio range is predetermined for at least two of the longitudinal positioning fields, which is also referred to below as the longitudinal ratio range. From the received positioning fields, a ratio is determined between at least two of the longitudinal positioning fields, which is also referred to below as the longitudinal ratio. If the determined longitudinal ratio lies within the associated predetermined longitudinal ratio range, it is recognized that the energy coils overlap in the longitudinal direction.

[0046] Accordingly, preferred embodiments are those in which the positioning fields are generated such that the intensity maxima of at least two positioning fields are arranged opposite one another in a transverse direction running transversely to the height direction, wherein the positioning fields are also referred to below as transverse positioning fields. For at least two of the transverse positioning fields, an associated ratio range is also specified in advance, which is also referred to below as the transverse ratio range. From the received positioning fields, a ratio between at least two of the transverse positioning fields is determined, which is also referred to below as the transverse ratio. If the determined transverse ratio lies within the associated predetermined transverse ratio range, it is detected that the energy coils overlap in the transverse direction.

[0047] It is preferred if both at least two longitudinal positioning fields and at least two transverse positioning fields are generated, wherein an associated transverse ratio range is predetermined for at least two longitudinal positioning fields and an associated transverse ratio range is predetermined for at least two transverse positioning fields, and wherein at least one longitudinal ratio and at least one transverse ratio are determined from the received positioning fields. This leads to increased precision in the detection of the relative position of the energy coils to one another.

[0048] Accordingly, it is preferred if an overlap of the energy coils is detected, provided that the determined longitudinal ratio lies within the associated predetermined longitudinal ratio range, and if the determined transverse ratio lies within the associated predetermined transverse ratio range.

[0049] The longitudinal and transverse directions advantageously extend at an angle to each other. Advantageously, the longitudinal and transverse directions extend at least at an angle to each other.

[0050] Preferably, the longitudinal and transverse directions run perpendicular to each other. This allows for simplified detection of the relative position of the energy coils. Furthermore, the overlapping arrangement of the energy coils can be simplified in this way by moving the induction charging devices relative to each other.

[0051] It is preferred if, when using the mobile induction charging device in a motor vehicle, the longitudinal direction corresponds to the X-direction and the transverse direction corresponds to the Y-direction of the motor vehicle, or vice versa.

[0052] It is conceivable to generate the longitudinal positioning fields in the stationary induction charging device and to receive them in the mobile induction charging device and to generate the transverse positioning fields in the mobile induction charging device and to receive them in the stationary induction charging device, or vice versa.

[0053] In preferred embodiments, all positioning fields are generated in one induction charging device and received in the other induction charging device. This leads to a simplified implementation of the method.

[0054] Preferred embodiments are those in which the positioning fields are generated such that two spaced-apart pairs of intensity maxima are arranged opposite one another in the longitudinal direction and / or two spaced-apart pairs of intensity maxima are arranged opposite one another in the transverse direction. Thus, two ratios or associated ratio ranges are available for detecting the overlapping arrangement of the energy coils in the longitudinal direction and / or the transverse direction. This leads to increased precision in detecting the relative position of the energy coils to one another.

[0055] It is preferred if the positioning fields are generated in such a way that two pairs of intensity maxima spaced apart from one another are arranged opposite one another in the longitudinal direction and two pairs of intensity maxima spaced apart from one another are arranged opposite one another in the transverse direction.

[0056] Advantageously, the ratio of both positioning fields exhibiting opposing intensity maxima is determined, and if the ratios deviate above a predetermined limit, the ratio of the positioning fields with the lower intensity is used to detect the relative position. Since the intensity maximum of the respective positioning field has a spatial profile similar to a double hump, this prevents the determined ratios between the two humps from being used to detect the relative position of the energy coils. Consequently, errors in detecting the relative position of the energy coils are prevented or at least reduced.

[0057] Advantageously, the ratio of both positioning fields exhibiting opposing intensity maxima is determined, and if the ratios match within a specified value range, the two ratios are averaged to detect the relative position. This leads to increased accuracy and robustness for detecting the relative position of the energy coils.

[0058] In particular, agreement between the two ratios means that the two ratios are essentially the same or within a given mean range.

[0059] To generate the longitudinal and transverse positioning fields, four transmit coils are advantageously used. However, it is understood that more than four positioning fields and thus more transmit coils can also be used.

[0060] Preferably, the transmitting coils are arranged at the corners of a rectangle. Thus, the positioning field generated by each transmitting coil is both a transverse positioning field and a longitudinal positioning field. This leads to a simplified design of the induction charging device comprising the transmitting coils.

[0061] In advantageous embodiments, if the determined ratio deviates from the associated ratio range towards an intensity maximum of one of the associated positioning fields, an offset of the energy coil of the induction charging device receiving the positioning fields from the energy coil of the induction charging device generating the positioning fields is detected towards the intensity maximum towards which the determined ratio is offset. Thus, not only is an offset of the energy coils from one another detected, but also a direction of the offset. In addition to increased precision in the detection of the relative position of the energy coils to one another, it is thus possible to carry out a relative movement of the mobile induction charging device to the stationary induction charging device in such a way that this offset is corrected. This means that simplified corresponding navigation of the mobile induction charging device orthe associated application is enabled.

[0062] Preferably, a positioning signal is output depending on a determined value of at least one determined ratio to the associated ratio range.

[0063] The positioning signal can be used via an output device as instructions for a person to navigate the mobile induction charging device or the associated application and / or as a control signal for automated navigation of the mobile induction charging device or the associated application in relation to one another such that the navigation results in an overall overlapping arrangement of the energy coils transversely to the height direction. Preferably, the positioning fields are generated such that, for a predetermined centering-longitudinal ratio in the longitudinal ratio range, a centered arrangement of the energy coils in the longitudinal direction is present. Thus, a longitudinally centered overlapping arrangement of the energy coils in relation to one another can be detected and / or navigation to such an arrangement can be achieved in a simplified manner.

[0064] Alternatively or additionally, preferably additionally, the positioning fields are generated such that, for a given centering transverse ratio within the transverse ratio range, a mutually centered arrangement of the energy coils in the transverse direction is present. Thus, a transversely centered overlapping arrangement of the energy coils relative to one another can be detected and / or navigation to such an arrangement can be achieved in a simplified manner.

[0065] Overall, this makes it possible to achieve a centered arrangement of the energy coils relative to each other across the vertical direction. This leads to increased efficiency during charging.

[0066] In principle, the respective centering ratio can be chosen arbitrarily. In particular, at least one of the centering ratios can be 1:1 or essentially 1:1. This makes it easier to identify the centered arrangement and / or navigate to the centered arrangement.

[0067] In preferred embodiments, the positioning fields are generated such that at least one of the ratio ranges, preferably the respective ratio range, is spaced from the intensity maxima of the associated positioning fields. This means that the intensity maxima lie outside of at least one of the at least one ratio ranges, preferably outside of all ratio ranges. Since the intensity maximum of the respective positioning field, as explained above, has a local profile in the manner of a double hump, this prevents determined ratios between the two humps from being used to detect the relative position of the energy coils to one another. As a result, falsifications in the detection of the relative position of the energy coils to one another are prevented or at least reduced.

[0068] In principle, at least two of the positioning fields can be generated with different intensity curves.

[0069] In advantageous embodiments, positioning fields are generated with identical intensity profiles. This facilitates the operation of the induction charging device generating the positioning fields and / or simplifies reception and / or differentiation of the positioning fields.

[0070] It is preferred to generate the positioning fields in such a way that the overall intensity profile of the positioning fields is symmetrical to the energy coil of the induction charging device generating the positioning fields. Thus, based on the symmetry of the overall intensity profile, the relative position of the energy coils to one another can be easily detected and / or navigation toward a centered arrangement can be simplified.

[0071] The generation of the positioning fields in such a way that they can be distinguished from one another can, in principle, be done in any way.

[0072] It is particularly conceivable that the positioning fields are generated with different frequencies so that the positioning fields can be distinguished from one another.

[0073] Positioning fields are advantageously generated with frequencies in the range between 5 kHz and 150 kHz. Preferably, the positioning fields are generated with frequencies between 110 kHz and 148.5 kHz, particularly preferably between 120 kHz and 145 kHz.

[0074] The frequencies associated with the transmit coils are preferably spaced as closely as possible to ensure that the total required frequency spectrum is small. The frequencies are, for example, 5 kHz, 1 kHz, 100 Hz, or 1 Hz or a few Hz apart.

[0075] Alternatively or additionally, it is conceivable to generate the positioning fields with associated duty cycles, allowing them to be distinguished. The positioning fields are thus differentiated using so-called "duty cycles." The use of duty cycles allows the positioning fields to be generated with the same frequency or frequency band. Thus, fewer frequencies are required. This also leads, in particular, to a reduced influence of the positioning device on components located nearby.

[0076] In preferred embodiments, the positioning fields are generated in the stationary induction charging device and received in the mobile induction charging device. Since a relative movement of the mobile induction charging device to the stationary induction charging device occurs in order to align the energy coils to one another, the determination of the at least one ratio and the detection of whether there is an overlap of the energy coils can thus take place in the mobile induction charging device. In comparison to a corresponding determination in the stationary induction charging device and a transmission to the mobile induction charging device or the associated application, the results are thus available in the mobile induction charging device or in the application. In other words, latency in detecting the relative position of the energy coils to one another is prevented or at least reduced.This leads in particular to smooth navigation of the mobile induction charging device or the application comprising the mobile induction charging device.

[0077] The method according to the invention can be used to detect the relative position of the energy coils to one another at any desired distance. In particular, the method according to the invention can be used to navigate and align the energy coils to one another at any desired distance range.

[0078] The method is advantageously used for detecting the relative position and / or for navigation in the so-called near field, i.e. at distances of less than 1.5 m, preferably less than 1.0 m, in particular less than 0.5 m.

[0079] The induction charging devices are usually part of a system.

[0080] In the system, the mobile induction charging device is preferably attached to an associated mobile application, in particular to a motor vehicle.

[0081] The method can be carried out by a computer program product which is designed accordingly.

[0082] The computer program product for detecting the relative position between the energy coils of the stationary induction charging device and the mobile induction charging device advantageously contains instructions that can be read by a computer system, such that the computer system executes the method when executing the computer program product.

[0083] The computer program product is advantageously stored on a storage system having at least one non-volatile memory. The computer program product advantageously contains instructions that cause the system to execute the method.

[0084] It is understood that the computer program product also falls within the scope of this invention.

[0085] It is further understood that the system also falls within the scope of this invention. To carry out the method, the system may comprise a correspondingly configured control device.

[0086] The control device may at least partially contain the computer program product and / or at least partially comprise the computer system.

[0087] It is further understood that a mobile application, in particular a motor vehicle, with the mobile induction charging device of such a system also belongs to the scope of this invention.

[0088] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0089] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0090] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0091] They show, schematically

[0092] Fig. 1 is a highly simplified representation of a system for inductive energy transmission,

[0093] Fig. 2 a schematic representation of virtual volumes,

[0094] Fig. 3 is a simplified plan view of a stationary induction charging device of the system,

[0095] Fig. 4 a section through the stationary induction charging device,

[0096] Fig. 5 a diagram with positioning fields,

[0097] Fig. 6 is a simplified plan view of transmitting coils and a receiver of the system,

[0098] Fig. 7 is a diagram showing position fields received by the receiver,

[0099] Fig. 8 a diagram with other signals received by the receiver with

[0100] Position fields,

[0101] Fig. 9 is a flow chart explaining the detection of the relative position of energy coils of a mobile induction charging device and a stationary induction charging device, Fig. 10 is a plan view of an energy coil of an induction charging device with transmitting coils.

[0102] A system 1, as shown in Figure 1 in a highly simplified and circuit diagram-like manner, serves for the inductive energy transfer to a mobile application 100, in particular for charging a battery 102 of the mobile application 100. In the exemplary embodiment shown, the application 100 is a motor vehicle 101. For this purpose, the system 1 has two inductive charging devices 2 which interact inductively with one another during charging operation, namely a stationary inductive charging device 2, 2a and a mobile induction charging device 2, 2b for the application 100. For the inductive energy transfer during charging operation, the respective induction charging device 2 has an associated coil 3. These coils 3 are also referred to below as energy coils 3. Thus, the stationary induction charging device 2, 2a has a stationary energy coil 3, 3a and the mobile induction charging device 2, 2b has a mobile energy coil 3, 3b.During charging operation, one of the energy coils 3 serves as a primary coil 12, which generates an alternating magnetic field that induces a voltage for energy transfer in the other energy coil 3, which serves as the secondary coil 13. In the exemplary embodiments shown, the energy coils 3 are each designed as a flat coil 7. During charging operation, the induction charging devices 2 are spaced apart from one another in a vertical direction 200. To enable charging operation and achieve high levels of efficiency during charging operation, the energy coils 3 are positioned relative to one another transversely to the vertical direction 200, i.e., in a longitudinal direction 201 running transversely to the vertical direction 200 and in a transverse direction 202 running transversely to the vertical direction 200 and transversely to the longitudinal direction 201. For this purpose, the relative position of the energy coils 3 to one another is detected.This advantageously occurs before charging operation in order to achieve optimal relative positioning of the energy coils 3 to one another and thus increased efficiency. In the exemplary embodiments shown, energy is transferred from the stationary induction charging device 2, 2a to the mobile induction charging device 2, 2b during charging operation in order to charge a battery 102 of the motor vehicle 101. Accordingly, during charging operation, the stationary energy coil 3, 3a serves as the primary coil 12 and the mobile energy coil 3, 3b as the secondary coil 13. As can be seen from Figure 1, the mobile induction charging device 2, 2a in the exemplary embodiment shown has a rectifier 14 connected between the secondary coil 13 and the battery 102 to convert the alternating voltage induced in the secondary coil 13 into a rectified voltage. Furthermore, in the exemplary embodiments shown, the height direction 200 corresponds to the Z direction of the motor vehicle 101.In addition, the longitudinal direction 201 and the transverse direction 202 correspond purely by way of example to the X-direction and the Y-direction of the motor vehicle 101.

[0103] To detect the relative position of the energy coils 3 to one another, at least two fields 60 are generated in one of the induction charging devices 2, which fields are explained in more detail below with reference to Figure 5. These fields 60 are also referred to below as positioning fields 60. The positioning fields 60 are generated such that they can be distinguished from one another and such that the energy coil 3 of the associated induction charging device 2 is fixedly positioned relative to the positioning fields 60. Furthermore, the positioning fields 60 are generated such that the energy coil 3 of the associated induction charging device 2 lies at least partially in a virtual volume 51 delimited by at least two intensity maxima 61 of at least two of the positioning fields 60 and extending in the height direction 200, which volume 51 is explained in more detail below with reference to Figure 2. The volume 51 is also referred to below as the frame volume 51.The positioning fields 60 are received at at least one position fixed to the energy coil 3 of the other induction charging device 2. A ratio range 63 (see Figure 5) of at least two of the received positioning fields 60 is predetermined, for which the energy coil 3 of the induction charging device 2 receiving the positioning fields 60 is arranged in the frame volume 51. To detect the relative position of the energy coils 3 to one another, the ratio 62 between at least two of the received positioning fields 60 is determined. If at least one of the at least one determined ratio 62 lies within the associated predetermined ratio range 63, it is detected that the energy coils 3 are arranged in the frame volume 51 and overlap transversely to the height direction 200. In the exemplary embodiments shown, the respective positioning field 60 is a magnetic positioning field 60.The respective ratio range 63 is specified in advance by means of a fixed specification, so that the ratio range 63 is stored and calibration is not necessary.

[0104] In the exemplary embodiments shown, the respective positioning field 60 is generated with an associated coil 5, which is also referred to below as a transmitting coil 5. In the exemplary embodiments shown, the respective positioning field 60 is received by at least one receiver 6, which interacts with the positioning fields 60 and, in the exemplary embodiments shown, is designed as a coil 15, which is referred to below as a receiving coil 15. The transmitting coils 5 and the at least one receiving coil 15 can be components of a positioning device 4 of the system 1 (see Figure 1).

[0105] As can be seen, for example, from Figure 2, a total of four transmitting coils 5 are provided in the illustrated embodiments, namely a first transmitting coil 5, 5a, a second transmitting coil 5, 5b, a third transmitting coil 5, 5c, and a fourth transmitting coil 5, 5d. Consequently, a total of four distinguishable positioning fields 60 are generated, namely a first positioning field 60, 60a, a second positioning field 60, 60b, a third positioning field 60, 60c, and a fourth positioning field 60, 60d (see Figures 7 and 8). In the illustrated embodiments, a single receiver 6 is also provided for receiving the positioning fields 60. In the view shown in Figure 1, only two of the transmitting coils 5 are visible. Due to the difference between the positioning fields 60, a distinction can be made between the positioning fields 60 by means of the at least one receiver 6.

[0106] In the exemplary embodiments shown, the positioning fields 60 are generated in one of the induction charging devices 2 and received in the other induction charging device 2. In the exemplary embodiments shown, the positioning fields 60 are generated in the mobile induction charging device 2, 2a and received in the stationary induction charging device 2, 2b. Accordingly, the stationary induction charging device 2, 2a has the transmitting coils 5 and the mobile induction charging device 2, 2b has the at least one receiver 6. In the exemplary embodiments shown, the transmitting coils 5 are different from the first energy coil 3, 3a, purely by way of example. In the exemplary embodiments shown, the at least one receiver coil 15 is different from the second energy coil 3, 3b, purely by way of example. As shown, for example, in Figure 2, the transmitting coils 5 are spaced apart from one another, and two of the transmitting coils 5 are arranged opposite one another.

[0107] In the exemplary embodiments shown, the transmitting coils 5 are of identical design, i.e., identical parts. Each transmitting coil 5 is a flat coil 7 having at least one conductor track (not explicitly shown) wound around an associated winding axis (not shown) running parallel to the vertical direction 200. Each positioning field 60 thus has a main axis running along the vertical direction 200, thus extending at least predominantly in or along the vertical direction 200 and thus being only locally receivable transversely to the vertical direction 200. In the exemplary embodiments shown, the distinguishable generation of the positioning fields 60 is achieved by generating the respective magnetic positioning field 60 at an associated frequency. This means that each transmitting coil 5 is operated at an associated frequency, so that the positioning fields 60 are distinguishable from one another.The frequencies are typically in the range between 120 kHz and 145 kHz and are spaced apart by a few Hz to a few kHz, for example. For example, the frequencies can be 5 kHz, 1 kHz, or 100 Hz or less apart. Differentiation is also possible using duty cycles.

[0108] Figure 2 shows a schematic view in which only the transmitting coils 5 and the energy coil 3 of the induction charging device 2 having the transmitting coils 5, in the embodiments shown thus the stationary energy coil 3, 3a, of the system 1 are shown.

[0109] In the illustrated embodiments, the respective positioning field is generated by an associated transmitting coil 5; the geometric arrangements of the positioning fields 60 and the transmitting coils 5 are to be considered analogous. For example, the positioning fields 60 generated by two opposing transmitting coils 5 are parallel to the opposing arrangement of the transmitting coils 5 and have opposite intensity maxima 61.

[0110] As can be seen from Figure 2, the arrangement of the transmitting coils 5 is such that the transmitting coils 5 delimit a virtual frame 50. The frame 50 is thus a virtual area delimited by the transmitting coils 5. The virtual frame 50 defines the frame volume 51 extending from the frame 50 in the vertical direction 200. The energy coil 3 of the associated induction charging device 2, in the exemplary embodiments shown, therefore the stationary energy coil 3, 3a, is arranged at least partially in the virtual frame volume 51. The energy coil 3 of the associated induction charging device 2 is thus either at least partially in the frame 50 or offset in the vertical direction 200 from the frame 50 and consequently arranged in the frame volume 51. In the embodiments shown, the transmitting coils 5 are spaced apart from the energy coil 3 of the associated induction charging device 2 and thus from the stationary energy coil 3, 3a in the height direction 200.In the exemplary embodiments shown, two of the transmitting coils 5 are arranged opposite one another in the longitudinal direction 201 and two opposite one another in the transverse direction 202. The transmitting coils 5 opposite one another in the longitudinal direction 201 are also referred to below as longitudinal transmitting coils 5, 5x, and the transmitting coils 5 opposite one another in the transverse direction 202 are also referred to below as transverse transmitting coils 5, 5y. Accordingly, the positioning fields 60 generated by the longitudinal transmitting coils 5, 5x are also referred to below as longitudinal positioning fields 60, 60x, and the positioning fields 60 generated by the transverse transmitting coils 5, 5y are also referred to below as transverse positioning fields 60, 60y.

[0111] As shown, for example, in Figure 2, the transmitting coils 5 in the illustrated embodiments are arranged in the corners 57 of a quadrilateral 54 shaped as a rectangle 55, so that the frame 50 has the shape of a rectangle 55. Thus, the frame volume 51 is cuboid-shaped. In the embodiment of Figure 2, the frame 50 has the shape of a square 56. Due to the arrangement of the transmitting coils 5 in the corners 57 of the rectangle 55, the respective transmitting coil 5 is both a longitudinal transmitting coil 5, 5x and a transverse transmitting coil 5, 5y. Thus, with the four transmitting coils 5, there are two pairs of transmitting coils 5 each located opposite one another in the longitudinal direction 201 and in the transverse direction 202. Analogously, the respective positioning field 60 is both a longitudinal positioning field 60, 60x and a transverse positioning field 60, 60y.Consequently, in the longitudinal direction 201, two pairs of intensity maxima 61 spaced apart from one another are arranged opposite one another, and in the transverse direction 202, two pairs of intensity maxima 61 spaced apart from one another are arranged opposite one another.

[0112] Based on the at least one determined ratio 62, it is further detected whether the energy coil 3 of the induction charging device 2 having the at least one receiver 6 is located within the virtual frame volume 51, and a positioning signal is output depending thereon. In the exemplary embodiments shown, the at least one ratio 62 is thus used to detect whether the mobile energy coil 3, 3b is located within the frame volume 51 and is thus arranged above the stationary energy coil 3, 3a in the vertical direction 200 and, moreover, at least partially overlaps the stationary energy coil 3, 3a transversely to the vertical direction 200.

[0113] As can be seen from Figure 2, in the exemplary embodiments shown, a virtual target area 52 is defined within the frame 50. The target area 52 is thus smaller than the frame 50. The target area 52 defines a virtual volume 53 within the frame volume 51 extending in the vertical direction 200, which is also referred to below as the target volume 53 and is shown in dashed lines in Figure 2. The energy coil 3 of the induction charging device 2 having the transmitting coils 5, i.e. the stationary energy coil 3, 3a in the exemplary embodiments shown, is arranged at least partially in the target volume 53. The respective ratio range 63 is predetermined such that the energy coil 3 of the induction charging device 2 receiving the positioning fields 60 is arranged in the target volume 53.

[0114] The frame volume 51 and the target volume 53 are defined in such a way that, with a corresponding arrangement of the energy coils 3 in the frame volume 51 and in the target volume 53, a high efficiency during charging operation, for example at least 90%, is achieved. The target volume 53 is selected such that the efficiency is greater when both energy coils 3 are arranged in the target volume 53 than when both energy coils 3 are arranged in the frame volume 51. As indicated in Figure 3, the target volume 53, in the projection in the height direction 200, and thus the target area 52, is smaller than the associated induction charging device 2, i.e., in the exemplary embodiments shown, smaller than the stationary induction charging device 2, 2a.

[0115] The positioning signal can be used to manually move the application 100 or to autonomously move the application 100. In the exemplary embodiment of the motor vehicle 101, the positioning signal can thus be used to signal to a driver (not shown) whether the energy coils 3 are aligned in the desired manner. For this purpose, the motor vehicle 101, as indicated in Figure 1, can have an output device 103 that outputs corresponding signals.

[0116] The detection of the overlap of the energy coils 3 is explained with reference to Figure 5. Figure 5 shows the course of two positioning fields 60, which are generated by two of the transmit coils 5 opposite each other in the longitudinal direction 201 or two of the transmit coils 5 opposite each other in the transverse direction 202. In Figure 5, the positioning fields 60 shown are therefore either longitudinal positioning fields 60, 60x or transverse positioning fields 60, 60y. One of the positioning fields 60 is shown in dashed lines for easier differentiation. Figure 5 shows the intensity course 64 of the longitudinal positioning fields 60, 60x along the longitudinal direction 201 or that of the transverse positioning fields 60, 60y along the transverse direction 202. According to Figure 5, the positioning fields 60 of the opposite transmit coils 5 coincide in the target volume 53. As can be seen from Figure 5, the positioning fields 60 have identical intensity profiles 64. This means that the positioning fields 60 are each generated with the same field distribution.Furthermore, in the exemplary embodiments shown, the transmitting coils 5 are designed and the positioning fields 60 are generated in such a way that an overall intensity profile 66 of the positioning fields 60 generated by the transmitting coils 5 is symmetrical between the opposite transmitting coils 5 and thus intensity maxima 61 as well as symmetrical with respect to the stationary energy coil 3, 3b.

[0117] As can further be seen from Figure 5, the respective positioning field 60 has an intensity profile 64 with intensity flanks 65 leading to an intensity maximum 61. As can further be seen from Figure 5, the intensity maxima 61 are spaced apart from one another. The transmitting coils 5 are arranged and / or the positioning fields 60 are generated accordingly. As can further be seen from Figure 5, the intensity maximum 61 of the respective positioning field 60 is shaped like a double hump. This is due in particular to the fact that the receiver 6 perceives a transition of the magnetic field lines (not shown) when positioned accordingly. As indicated in Figure 5, the respective ratio range 62 is arranged between successive intensity flanks 65 of the positioning fields 60 generated by the opposite, associated transmitting coils 5 and is spaced apart from the intensity maxima 61.For each of the longitudinal positioning fields 60, 60x with opposite intensity maxima 61 in the longitudinal direction 201, a corresponding longitudinal ratio range 63, 63x is predefined, and for each of the transverse positioning fields 60, 60y with opposite intensity maxima 61 in the transverse direction 202, a corresponding transverse ratio range 63, 63y is predefined. The predefined ratio ranges 63 are preferably stored so that a simple comparison between the determined ratio 62 and the associated ratio range 63 can be used to determine whether a corresponding overlap exists between the energy coils 3.

[0118] This means that the longitudinal transmission coils 5, 5x are arranged and the longitudinal positioning fields 60, 60x are generated such that the intensity maxima 61 of two longitudinal positioning fields 60, 60x are arranged opposite one another in the longitudinal direction 201. For at least two of the longitudinal positioning fields 60, 60x, an associated longitudinal ratio range 63, 63x is predefined. From the longitudinal positioning fields 60, 60x received by the receiver 6, a longitudinal ratio 62, 62x between at least two of the longitudinal positioning fields 60, 60x is determined. An overlap of the energy coils 3 within the target volume 53 in the longitudinal direction 201 is detected if the determined longitudinal ratio 62, 62x lies within the associated predefined longitudinal ratio range 63, 63x. The same applies to the overlap in the transverse direction 202.This means that the transverse transmit coils 5, 5y are arranged and / or the transverse positioning fields 60, 60y are generated such that the intensity maxima 61 of two transverse positioning fields 60, 60y are arranged opposite one another in the transverse direction 202. Furthermore, an associated transverse ratio range 63, 63y is predetermined for at least two of the transverse positioning fields 60, 60y. In positioning mode, a transverse ratio 62, 62y between at least two of the transverse positioning fields 60, 60y is determined from the transverse positioning fields 60, 60y received by the receiver 6. In this case, an overlap 3 of the energy coils 3 within the target volume 53 in the transverse direction 202 is detected if the determined transverse ratio 62, 62y lies within the associated predetermined transverse ratio range 63, 63y.An overlap of the energy coils 3 in the longitudinal direction 201 and in the transverse direction 202 therefore occurs when at least one of the longitudinal ratios 62, 62y lies within the longitudinal ratio range 63, 63y and at least one of the transverse ratios 62, 62y lies within the transverse ratio range 63, 63y.

[0119] For example, for an overlap within the frame volume 51, a ratio range 63 between 10:0.05 and 0.05:10 can be given, and for an overlap within the target volume 53, a ratio range 63 between 1:0.1 and 0.1:1 can be given. Figure 6 shows a simplified plan view in the vertical direction 200 of the transmitting coils 5. It is assumed that the receiver 15 moves between the first transmitting coil 5, 5a and the second transmitting coil 5, 5b in the longitudinal direction 201. Figure 7 shows the positioning fields 60 of the first transmitting coil 5, 5a and the second transmitting coil 5, 5b received by the receiver 15 during this movement along the longitudinal direction 201, and thus the first positioning field 60, 60a and the second positioning field 60, 60b.Figure 8 shows the positioning fields 60 received by the third transmitting coil 5, 5c and the fourth transmitting coil 5, 5b during this movement of the receiver 15 along the longitudinal direction 201, and thus the fourth positioning field 60, 60c and the fourth positioning field 60, 60d. The first positioning field 60, 60a and the second positioning field 60, 60b are longitudinal positioning fields 60, 60x relative to one another. Analogously, the third positioning field 60, 60c and the fourth positioning field 60, 60d are longitudinal positioning fields 60, 60x relative to one another. As a comparison of Figures 7 and 8 shows, the double-hump shape of the positioning fields 60 received by the receiver 15 is more pronounced for the positioning fields 60 close to the receiver 15 than for the positioning fields 60 further away from the receiver 15.In the described example, the double-hump shape is more pronounced for the received first positioning field 60, 60a and second positioning field 60, 60b than for the received third positioning field 60, 60c and fourth positioning field 60, 60d. For clarity, the double-hump shape of the more distant positioning fields 60, i.e., the third positioning field 60, 60c and the fourth positioning field 60, 60d, is not shown in Figure 8. Accordingly, the ratio 62 of both positioning fields 60 having opposite intensity maxima 61 is advantageously determined, and if the ratios 62 deviate above a predetermined limit, the ratio 62 of the positioning fields 60 with the lower intensity is used to detect the relative position. As a result, those positioning fields 60 are used whose determined ratio 62 to the intensity maxima 61 is further apart.This prevents, in particular, the above-described double-hump shape of the intensity maxima 61 from leading to a falsified position detection. If, however, the two ratios 62 essentially correspond to each other, i.e., if the ratios 62 are essentially equal or within a predetermined value range, the two ratios 62 are averaged to detect the relative position.

[0120] If the determined ratio 62 deviates from the associated ratio range 63 toward an intensity maximum 61 of one of the associated positioning fields 60, an offset of the energy coil 3 of the receiving induction charging device 2, which thus has the receiver 6, toward that intensity maximum 61 and thus toward the transmitting coil 5 generating the intensity maximum 61, toward which the ratio 62 is shifted, is further detected.In other words, if the determined longitudinal ratio 62, 62x is shifted from the associated longitudinal ratio range 63, 63x toward one of the intensity maxima 61 of one of the associated longitudinal positioning fields 60, 60x, this means that there is an offset of the mobile energy coil 3, 3b from the target volume 53 along the longitudinal direction 201 toward the longitudinal transmission coil 5, 5x that generates the longitudinal positioning field 60, 60x with the intensity maximum 61 toward which the determined longitudinal ratio 62, 62x is shifted. The same applies to the determined transverse ratio 62, 62y.This means that if the determined transverse ratio 62, 62y is shifted from the associated transverse ratio range 63, 63y toward one of the intensity maxima 61 of one of the associated transverse positioning fields 60, 60y, this means that there is an offset of the mobile energy coil 3, 3b from the target volume 53 along the transverse direction 202 toward that transverse transmission coil 5, 5y that generates the transverse positioning field 60, 60y with the intensity maximum 61 toward which the determined transverse ratio 62, 62y is shifted. Thus, navigation of the mobile induction charging device 2, 2a can be realized such that an overlap of the two energy coils 3 is achieved in the target volume and thus both in the longitudinal direction 201 and in the transverse direction 202.This can, as indicated in Figure 1, be done by means of the output device 103 in order to output whether and in which direction a relative movement of the mobile induction charging device 2, 2b relative to the stationary induction charging device 2, 2a is necessary in order to achieve an overlap of the energy coils 3 in the longitudinal direction 201 and in the transverse direction 202. In the exemplary embodiment shown in Figure 1, this is done purely by way of example visually by means of the display of arrows indicated in Figure 1. It is also conceivable for the output device 103 to emit an acoustic signal. It is also conceivable to implement the result autonomously, so that the motor vehicle 101 is driven autonomously in order to achieve an overlap of the energy coils 3.

[0121] Maximized efficiency during charging operation is achieved with a corresponding relative position of the energy coils 3 to one another, which is also referred to below as a centered arrangement. The centered arrangement is assigned a ratio 63 within each of the ratio ranges 63. This means that with a predetermined centering longitudinal ratio in the longitudinal ratio range 63, 63x, there is a centered arrangement of the energy coils 3 in the longitudinal direction 201. Furthermore, with a predetermined centering transverse ratio in the transverse ratio range 63, 63y, there is a centered arrangement of the energy coils 3 in the transverse direction 202. An overall centered arrangement thus exists when at least one of the determined longitudinal ratios 62, 62x corresponds to the associated centering longitudinal ratio and at least one of the determined transverse ratios 62, 62y corresponds to the associated centering transverse ratio.The respective centering ratio in the exemplary embodiments shown is 1:1, as indicated in Figure 5. Analogous to the above explanation, it is possible to implement navigation in such a way that an overall centered arrangement of the energy coils 3 is present. Figure 9 shows a flow chart to explain the detection of the relative position of the energy coils 3 to one another. The positioning operation is initiated when the application 100 and thus the mobile induction charging device 2, 2b approaches the stationary induction charging device 2, 2a. This is the case, for example, when a distance between the induction charging devices 2 from one another transversely to the height direction 200 is less than 1.5 m, in particular less than 1 m, preferably less than 0.5 m.The positioning operation can be initiated, for example, by means of a ping signal emitted by the mobile induction charging device 2, 2b, upon receipt of which signal, the mobile induction charging device 2, 2a generates the positioning fields 60 with the transmitting coils 5. According to Figure 9, in a method step 300, which is also referred to below as receiving step 300, the positioning fields 60 are received by the receiver 6 and separated from one another in a subsequent method step 301 such that the intensity of the positioning fields 60 can be distinguished from one another. In method step 301, in particular, a Fourier transformation of the signals received by the receiver 6 takes place, i.e., in the case of a receiving coil 15, the voltages induced in the receiving coil 6 with the positioning fields 60. The method step 301 is also referred to below as separating step 301.The result of the separation measure 301 is thus an associated value for the respective positioning field 60, resulting in a total of four values. From these values, the associated longitudinal ratios 62, 62x and transverse ratios 62, 62y are determined in a procedural measure 302 for the longitudinal positioning fields 60, 60x and for the transverse positioning fields 60, 60y. In this case, it is advantageous to average several values, for example, the ten most recently determined values, in order to increase the accuracy of the method and / or reduce the susceptibility to errors. The procedural measure 302 is also referred to below as ratio measure 302.The ratios 62 determined in the ratio measure 102 are compared in a procedural measure 303 with the corresponding predefined ratio ranges 63, and based on the comparison, it is determined whether a corresponding overlap of the energy coils 3, i.e., the arrangement of the mobile energy coil 3, 3b within the target volume 53, exists. The procedural measure 303 is also referred to below as comparison measure 303. The comparison measure 303 outputs at least one positioning signal, as indicated in Figure 9. The positioning signal preferably serves, as explained above, for the navigation of the mobile application 100. Accordingly, the positioning signals can be made available to the output device 103.

[0122] To detect the relative position, a correspondingly configured control device 16, shown in simplified form in Figure 1, can be used. The control device 16 can be a component of the positioning device 4, the system 1, or the application 100. The method can be implemented using a computer program product.

[0123] According to Figure 4, the induction charging device 2 comprising the transmitting coils 5, in this case the stationary induction charging device 2, 2a, in the illustrated embodiments has a flat coil 7 as the energy coil 3, which is larger than the transmitting coils 5. In addition, the stationary induction charging device 2, 2a has a magnetic flux guide unit 8 for guiding the alternating field generated by the stationary energy coil 3, 3a during charging operation. For this purpose, the magnetic flux guide unit 8 in the illustrated embodiments has magnetic flux guide elements 9, which are designed as ferrite plates 10. The transmitting coils 5 overlap the stationary energy coil 3, 3a and are arranged in corners 57 of a rectangle 55 (see, for example, Figure 2) and in a plane running parallel to the stationary energy coil 3, 3a. Furthermore, the transmitting coils 5 are arranged above the magnetic flux guide unit 9.Figure 4 shows possible relative positions of the transmitting coils 5 to the stationary energy coil 3, 3a. Accordingly, the transmitting coils 5 can be arranged in the height direction 200 between the stationary energy coil 3, 3a and the magnetic flux guide unit 8, on the side of the magnetic flux guide unit 8 facing away from the stationary energy coil 3, 3a, or on the side of a foreign object detection device 17 of the stationary induction charging device 2, 2a facing the stationary energy coil 3, 3a.

[0124] Figure 10 shows a further embodiment which differs from the preceding embodiments in that the transmitting coils 5 are arranged offset inwards.

Claims

Claims: Method for detecting the relative position of a stationary induction charging device (2, 2a) to a mobile induction charging device (2, 2a), wherein the stationary induction charging device (2, 2a) has a stationary energy coil (3, 3a) and the mobile induction charging device (2, 2b) has a mobile energy coil (3, 3b), wherein in a charging operation of the system (1) one of the energy coils (3) generates an alternating magnetic field which induces a voltage in the other energy coil (3) for energy transfer, and wherein the energy coils (3) are spaced apart from each other in a vertical direction (200) during the charging operation. - wherein at least two positioning fields (60) are generated in one of the induction charging devices (2) such that the positioning fields (60) are distinguishable from each other, and such that the energy coil (3) of the associated induction charging device (2) is fixedly positioned relative to the positioning fields (60), and wherein the energy coil (3) is at least partially located in a virtual frame volume (51) bounded by at least two intensity maxima (61) of at least two of the positioning fields (60) and extending in the vertical direction (200), - wherein the positioning fields (60) are received at at least one position fixed to the energy coil (3) of the other induction charging device (2), - wherein a ratio range (63) of at least two of the received positioning fields (60) is predetermined, for which the energy coil (3) of the induction charging device (2) receiving the positioning fields (60) is arranged in the frame volume (51 ), - wherein the ratio (62) between at least two of the received positioning fields (60) is determined, - wherein it is recognized that the energy coils (3) are arranged in the frame volume (51) and overlap transversely to the vertical direction (200), if at least one of the at least one determined ratios (62) lies within the associated predetermined ratio range (63). Method according to claim 1, characterized in that - that within the frame volume (51) a virtual target volume (53) extending in the vertical direction (200) is defined, such that the energy coil (3) of the induction charging device (2) generating the positioning magnetic fields (60) lies at least partially in the target volume (53), - that at least one of the ratio ranges (63) is specified such that the energy coil (3) of the induction charging device (2) receiving the positioning fields (60) is arranged in the target volume (53). Method according to claim 1 or 2, characterized in that - that the positioning fields (60) are generated such that the intensity maxima (61 ) of at least two longitudinal positioning fields (60, 60x) are arranged opposite each other in a longitudinal direction (201 ) running perpendicular to the height direction (200), - that for at least two of the longitudinal positioning fields (60, 60x) a corresponding longitudinal ratio range (63, 63x) is specified in advance, - that a longitudinal ratio (62, 62x) is determined from the received positioning fields (60) between at least two of the longitudinal positioning fields (60, 60x), - that it is recognized that the energy coils (3) overlap in the longitudinal direction (201) when the determined longitudinal ratio (62, 62x) lies within the associated predetermined longitudinal ratio range (63, 63x). Method according to one of claims 1 to 3, characterized in that, - that the positioning fields (60) are generated such that the intensity maxima (61) of at least two transverse positioning fields (60, 60y) are arranged opposite each other in a transverse direction (202) running perpendicular to the vertical direction (200), - that for at least two of the transverse positioning fields (60, 60y) a corresponding transverse ratio range (63, 63y) is specified in advance, - that a transverse ratio (62, 62y) between at least two of the transverse positioning fields (60, 60y) is determined from the received positioning fields (60), - that it is detected that the energy coils (3) overlap in the transverse direction (202) when the determined transverse ratio (62, 62y) lies within the associated predetermined transverse ratio range (63, 63y). Method according to claims 3 and 4, characterized in that it is detected that the energy coils (3) overlap, • if the determined longitudinal ratio (62, 62x) lies within the corresponding specified longitudinal ratio range (63, 63x), and • if the determined transverse ratio (62, 62y) lies within the corresponding specified transverse ratio range (63, 63y). A method according to any one of claims 1 to 5, characterized in that the positioning fields (60) are generated such that, in the longitudinal direction (201), two mutually spaced pairs of intensity maxima (61) are arranged opposite each other, and / or in the transverse direction (202), two mutually opposing pairs of intensity maxima (61) are arranged opposite each other. A method according to claim 6, characterized in that the ratio (62) of the two positioning fields (60) having the opposing intensity maxima (61) is determined, and if the ratios (62) deviate above a predetermined limit value, the ratio (62) of the positioning fields (60) with the lower intensity is used to detect the relative position.A method according to claim 6 or 7, characterized in that the ratio (62) of both positioning fields (60) exhibiting opposing intensity maxima (61) is determined, and if the ratios (62) are within a range of values ​​to determine the relative position, the two ratios (62) are averaged. A method according to any one of claims 1 to 8, characterized in that if the determined ratio (62) deviates from the corresponding ratio range (63) towards an intensity maximum (61) of one of the corresponding positioning fields (60), an offset of the energy coil (3) of the induction charging device (2) receiving the positioning fields (60) occurs. The method is characterized in that the energy coil (3) of the induction charging device (2) generating the positioning fields (60) is detected in relation to the intensity maximum (61) to which the determined ratio (62) is offset. A method according to any one of claims 1 to 9, characterized in that a positioning signal is output depending on a determined value of at least one determined ratio (62) to the associated ratio range (63). A method according to claim 10, characterized in that the positioning signal is used via an output device (103) as guidance for navigating the mobile induction charging device (2, 2b) and / or as a control signal for automated navigation of the mobile induction charging device (2, 2b) to the overlapping arrangement of the energy coils (3) relative to each other. A method according to any one of claims 3 to 11, characterized in that the positioning fields (60) are generated in such a way that - that for a given center-length ratio in the longitudinal ratio range (63, 63x) a centered arrangement of the energy coils (3) in the longitudinal direction (201) is present, and / or - that, for a given centering-transverse ratio in the transverse-ratio range (63, 63y), a mutually centered arrangement of the energy coils (3) in the transverse direction (202) is present. Method according to one of claims 1 to 12, characterized in that, that the positioning fields (60) are generated such that at least one of the ratio ranges (63) is spaced apart from the intensity maxima (61) of the associated positioning fields (60). A method according to any one of claims 1 to 13, characterized in that positioning fields (60) with identical intensity profiles (64) are generated. A method according to any one of claims 1 to 14, characterized in that the positioning fields (60) are generated such that the overall intensity profile (66) of the positioning fields (60) is symmetrical with respect to the energy coil (3) of the induction charging device (2) generating the positioning fields (60). A method according to any one of claims 1 to 15, characterized in that positioning fields (60) are generated with different frequencies so that the positioning fields (60) are distinguishable in the receiving induction charging device (2).A method according to any one of claims 1 to 16, characterized in that positioning fields (60) with corresponding duty cycles are generated, such that the positioning fields (60) are distinguishable. A method according to any one of claims 1 to 17, characterized in that the positioning fields (60) are located in the stationary induction charging device. (2, 2a) are generated and received in the mobile induction charging device (2, 2b). Method according to any one of claims 1 to 18, characterized in that the positioning fields (60) are generated in the mobile induction charging device (2, 2b) and received in the stationary induction charging device (2, 2a). Method according to any one of claims 1 to 19, characterized in that at least one of the positioning fields (60), in particular the respective positioning field (60), is generated as a magnetic positioning field (60). Method according to any one of claims 1 to 20, characterized in that the respective positioning field (60) is generated with a principal axis extending along the vertical direction (200). Computer program product configured for carrying out the method according to any one of claims 1 to 21.System (1) comprising a stationary inductive charging device (2, 2a) and a mobile application (100), in particular a motor vehicle (101), comprising a mobile inductive charging device (2, 2b), wherein the stationary inductive charging device (2, 2a) comprises a stationary energy coil (3, 3a) and the mobile inductive charging device (2, 2b) comprises a mobile energy coil (3, 3b), which in a charging operation are aligned with each other in a vertical direction (200) and inductively interact to inductively transfer energy to the application (100). - wherein one of the induction charging device (2) has at least two transmitting coils (5) which generate positioning fields (60) that are distinguishable from each other in a positioning operation, - wherein the other induction charging device (2) has at least one receiver (6) for receiving the positioning fields (60), - with a control device (12) configured to operate the system (1) in positioning mode according to the method of any one of claims 1 to 21. Mobile application (100), in particular motor vehicle (101), with a mobile inductive charging device (2, 2b) of a system (1) according to claim 21. Stationary inductive charging device (2, 2a) of a system (1) according to claim 21.

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