Robot electromagnetic induction electric vehicle charging system

Abstract

A system, method, and apparatus for wirelessly charging a load, in which a primary transformer coil from an energy source is provided to interface with a load application having a secondary transformer coil, and the charging method is independent of the resonant frequency.

Description

Technical Field

[0001] This application claims priority to a provisional application (Application No. 63056597, filed on July 25, 2020, entitled "Robotic Electromagnetic Electric Vehicle Charging System" by D. Kevin Cameron), and all disclosures of that application are hereby incorporated herein by reference in their entirety. If the definition or use of a term in a reference document incorporated by reference herein conflicts with or is incompatible with the definition of that term given herein, the definition of that term given herein shall apply, and the definition of that term in the reference document shall not apply.

[0002] The present invention generally relates to the technical field of electric charging, and in one exemplary embodiment, relates to a method, apparatus, and system for selectively charging an electric vehicle (EV).

Background Art

[0003] EVs are rapidly spreading, and it is always necessary to charge regularly and as quickly as possible. Rapid charging of small cars is not such a difficult problem, but large vehicles with larger batteries and larger energy capacities can pose problems for both power electronics capabilities and the load capacity of the power grid. Specifically, the limits of residential and simple commercial office wiring are typically in the range of several hundred kW, while rapid charging of trucks and buses would seemingly require megawatt (MW) power.

[0004] Passenger cars do not require the large power supplies needed by commercial trucks, so it is difficult to develop a common standard for connectors. Thus, plug types will likely be different for different power levels in different applications. However, it is worthwhile to ask whether a single power connection system can be developed that can accommodate all cases, including both low-power passenger cars and high-power trucks.

[0005] Society of Automotive Engineers (SAE) type manual plugs can be expensive and impractical. Engaging and disengaging prong-type plugs can lead to damage to the prongs and connecting equipment due to misalignment or excessive force when attempting to fully engage the plug. This can result in heavy and cumbersome plug and socket designs that are difficult for some to handle.

[0006] Furthermore, because fast chargers are in limited availability, drivers need to move their vehicles immediately after charging to make room for newly arriving EVs. This leads to congestion, potentially uncharged and stranded EVs, and in some cases, the employment of parking attendants to move vehicles.

[0007] There are two basic types of wireless charging: one is close-contact (like a switch-mode power supply (SMPS) transformer), and the other is resonant, which operates at larger distances. Typically, efficiency of over 95% can be achieved when the charging and receiving coils are placed within 1 millimeter of each other. On the other hand, resonant wireless charging systems can tolerate a wide range of usable distances between the charging and receiving coils, up to tens of centimeters, which is three orders of magnitude greater than that of a transformer, but efficiency can drop to around 15-40%. Furthermore, the increased circuit complexity is due to the need to accommodate matched distributed resistance, inductance, and capacitance (RLC) between the charging and receiving coils, which "tunnel" the energy rather than radiating an electromagnetic field in all directions like inductive applications. In buildings where many vehicles are charged using resonant wireless charging systems, leaked power can cause serious overheating problems that can weaken reinforced concrete.

[0008] Inductive or magnetic charging systems for EVs wirelessly induce a voltage, i.e., electromotive force or EMF, across the receiving wire or secondary circuit when there is a current change in a nearby charging wire or primary circuit that is not directly connected to the receiving wire or secondary circuit (i.e., not conductively connected). This is called electromagnetic induction because, according to Ampère's law of circuits, the charging circuit generates a fluctuating magnetic field or magnetic flux around it. This then induces a voltage in the receiving circuit, according to Faraday's law of electromagnetic induction.

[0009] The inductive coupling or mutual inductance between two wires or circuits can be increased by winding them into coils and placing them close together on a common axis so that the magnetic field of one coil passes through the other. Coupling can also be increased by a magnetic core made of ferromagnetic material such as iron or ferrite, which increases the magnetic flux in the coils. A transformer physically houses two coils, i.e., primary and secondary windings, in one unit. The best coupling is achieved by winding the windings together (e.g., as twisted pairs of wires), but this usually does not meet insulation requirements, so the windings are mechanically separated (may be earth-shielded) and coaxial.

[0010] One type of wireless charging is (mechanically) uncoupled or resonant inductive charging (RIC). This is used in several wireless inductive charging applications and requires a controlled and matched operating frequency between the primary (power) coil and the secondary (load-supporting) coil. The primary and secondary coils are typically positioned within a wavelength fraction. If the primary and secondary coils are too close together, inefficiencies such as overcoupling occur; if they are too far apart, inefficiencies such as loose coupling occur. Therefore, RICs can be positionally sensitive for efficient charging. Even slight misalignment can lead to undercharging, consumer dissatisfaction, and even unnecessary overheating and reduced reliability. Some RIC configurations use flat pads. When flat pads are used as the interface for wireless charging, foreign object interference (FOI) can interfere with charging efficiency. Foreign objects can include dirt, grease, stones, asphalt, road salt, leaves, other natural road debris, and unintentionally placed objects such as tools, personal belongings, and equipment.

[0011] Overall, wireless charging for EVs is an area where the time for technological innovation has been ripe for many years, but the need remains unmet. Expert skepticism and other factors have dampened promising non-trivial innovations like the one disclosed here. [Brief explanation of the drawing]

[0012] The exemplary embodiments are described as examples only and are not limited to the figures in the attached drawings.

[0013] [Figure 1A] Functional block diagram of a wireless charging transformer according to one or more embodiments.

[0014] [Figure 1B] Automotive applications comprising one or more wireless charging trans interfaces according to one or more embodiments.

[0015] [Figure 1C]A commercial truck application with multiple wireless charging transformer interfaces according to one or more embodiments.

[0016] [Figure 2A] An isometric view of a matched primary and secondary coil wireless charging transformer according to one or more embodiments.

[0017] [Figure 2B] A cross-sectional view of a matched nominal energy primary and secondary coil wireless charging transformer according to one or more embodiments.

[0018] [Figure 2C] A cross-sectional view of a small primary coil and large secondary coil wireless charging transformer according to one or more embodiments.

[0019] [Figure 2D] A cross-sectional view of a large primary coil and small secondary coil wireless charging transformer according to one or more embodiments.

[0020] [Figure 2E] A cross-sectional view of a matched high energy primary coil and secondary coil wireless charging transformer according to one or more embodiments.

[0021] [Figure 2F] A cross-sectional view of a non-rotating pyramid-shaped matched high energy primary coil and secondary coil wireless charging transformer according to one or more embodiments.

[0022] [Figure 3A] A shear jack vertical adjustment platform for a primary coil according to one or more embodiments.

[0023] [Figure 3B] A self-propelled platform for a primary coil according to one or more embodiments.

[0024] [Figure 3C] A self-propelled platform for a primary coil equipped with a brushless cord spool according to one or more embodiments.

[0025] [Figure 4] A schematic diagram of a switch relay for multiple charge sources, including a wireless charging transformer according to one or more embodiments.

[0026] [Figure 5A] Schematic diagram of multiple wireless alignable charging transformer interfaces according to one or more embodiments, each charging an individual battery pack pair.

[0027] [Figure 5B] A schematic diagram of an EV motor drive according to one or more embodiments, in which power electronics may also be used to drive a primary transformer for V2G.

[0028] [Figure 6] A flowchart of a method for resonant frequency-independent, scalable wireless transformer power transfer according to one or more embodiments.

[0029] The drawings referenced herein should be understood not to scale unless specifically noted to provide a clearer illustration of the details of this disclosure. The same reference numerals in the drawings indicate similar components in several drawings. Other features and advantages of this disclosure will become apparent from the accompanying drawings and the detailed description below.

[0030] A system, method, and apparatus for wirelessly charging a load. A primary transformer coil from an energy source is provided to interface with a load application having a secondary transformer coil. The charging method is independent of the resonant frequency.

[0031] The methods, operations, processes, systems, and apparatus disclosed herein may be implemented by any means necessary to realize various embodiments, and when performed by a machine or data processing system (e.g., a computer system) in one or more different sequences, they may be implemented in the form of machine-readable and / or machine-accessible media that embody a series of instructions causing the machine to perform any of the operations disclosed herein. Other features will become apparent from the accompanying drawings and the following detailed description. Accordingly, this specification and the drawings should be treated as illustrative rather than restrictive. The present invention is defined by the features of the accompanying claims.

[0032] This summary is provided to introduce the simplified conceptual selections, which will be further explained in the detailed description section below. This summary is not intended to identify any important or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. [Modes for carrying out the invention]

[0033] Methods, apparatus, and systems for charging electric vehicles across a range of different power levels are disclosed. The following description includes many specific details to provide a thorough understanding of various embodiments for illustrative purposes. However, it will be apparent to those skilled in the art that various embodiments can be carried out without these specific details.

[0034] Referring to Figure 1A, schematic diagram 100-A shows a transformer configuration with a primary coil 111 surrounded by a shield 111-S and powered by a power source 102-A, which is either connected to a power line or is a self-sufficient energy source such as a battery or fuel cell. Opposite the primary coil 111 is a secondary coil 112, which itself is surrounded by a shield 112-S, and both the secondary coil 112 and the shield 112-S are located within the EV load 104. The smaller the gap 114 between the primary coil 111 and the secondary coil 112, the less loss there is and the better the energy transfer efficiency.

[0035] In one embodiment, a solution for charging different EVs with different power level requirements is to make the number of charging connections variable. For example, EVs designed for higher power specifications or requirements are charged via, for example, more nominal voltage charging connections arranged in parallel. Typically, high-power EVs, such as large commercial vehicles, utilize more standard, physically isolated, and parallel-chargeable battery packs.

[0036] The electromagnetic coupling shown in Figure 1A is used to couple one or more battery packs to a power source via a parallel transformer-coil interface. This electromagnetic coupling is easy for robots to handle and has low manufacturing costs. The biggest cost is the transformer-coil, which is simply a wound wire, and does not require the advanced power electronics for power supply and control that are needed in wireless inductive charging platforms with matched resonant frequencies. Furthermore, engaging and disengaging the electromagnetic coupling is easier than, for example, using conductive plugs with pins or blades that can easily be coupled, misaligned, or damaged.

[0037] Referring to Figure 1B, a personal EV van 100-B is shown with one battery pack 120-1 and one secondary coil unit 122-1. When ready to charge, the secondary coil unit 122-1 may remain stationary in its position to receive a retractable primary coil, or it may extend downward or outward to provide easier access to a retractable or movable primary coil. Optionally, the EV 100-B includes an additional primary or secondary coil 122-2 or 122-3 that is horizontally retractable or stationary to receive a mating coil for vehicle-to-vehicle (V2V) series charging, whether stationary or in motion. For a typical commuter range, and provided that residential overnight parking is available, charging the vehicle with one wireless transinterface or connector should be sufficient.

[0038] Referring to Figure 1C, the box truck is shown with several standard, physically separated battery packs 120-2, 120-3, 120-4, and 120-5, which are of a size comparable to those of a personal EV, and each of the battery packs 120-2, 120-3, 120-4, and 120-5 has its own independent secondary coil unit 122-4, 122-5, 122-6, and 122-7 for parallel charging. The battery packs can be wired in series or in parallel. For example, an array of 10 48-volt battery packs can be connected in series to provide a charge level of 400-500 volts. Each of the 10 battery packs can be charged in parallel with one another. This arrangement avoids a series charging system in which lead-acid battery packs are exposed to maximum voltage, increasing the risk of connection blade failure or separator short circuits. Furthermore, compared to multiple low-voltage, small, and inexpensive connectors, a single high-voltage connector results in a larger device size, higher required robustness, and a sharply higher manufacturing cost. Also, if a problem occurs in one of the parallel charging power supplies or connectors, it can be replaced and maintained independently and without prior preparation without interrupting the charging of the remaining battery packs by an independent charging unit. Moreover, this parallel charging system avoids interrupting the charging operation of downstream battery packs due to a connection failure in one battery pack. Therefore, even if there is a break in the upstream battery pack, the downstream battery packs will still be charged in this embodiment where each battery pack is charged independently in parallel.

[0039] Referring to Figures 2A to 2D, several primary and secondary transformer arrangements according to one or more embodiments for providing electromagnetic coupling are shown. Transformers can be formed in various shapes. The efficiency of high-frequency transformers (e.g., above 50 kHz) depends largely on how close the primary and secondary windings are to each other. In another embodiment, additional magnetic material is used to reduce leakage current. In one embodiment, where a high level of insulation is not required, the primary may be wound on top of the secondary.

[0040] Referring particularly to Figure 2A, isometric views of a wireless charging transformer with matched primary and secondary coils according to one or more embodiments are shown. Sections 2B-2B are shown in Figure 2B, and Figures 2C-2D show similar cross-sectional views of conical plugs or sockets of different sizes.

[0041] In Figure 2A, this embodiment for robot charging selectively utilizes an engagement assembly 200-A, which includes a conical plug 220-A (male) and a mating conical socket 230-A (female). The conical plug 220-A has a conical primary winding 225-A arranged around an internal conical core 223-A. The mating conical socket 230-A has a conical secondary winding 234-A embedded in a magnetic material block 232-A. The conical plug 220-A is shown engaging with the conical socket 230-A by the engagement / disengagement arrow 244, with the primary winding 225-A facing and in contact with the secondary winding 234-A for power transfer. As illustrated, the misalignment 252 is overcome by the nearly coaxial arrangement of the axis 254 of the primary winding 255-A and the axis 256 of the mating winding, the secondary winding 234-A, and the physical geometry, i.e., the conical and equiangular shapes of the members, gives self-alignment. Physical pressure, either by gravity or a force applied by a charging device, e.g., hydraulic, pneumatic, or electric solenoid, holds the primary winding 225-A in place relative to the secondary winding 234-A during charging. In one embodiment, the weight of the mating socket provides sufficient pressure to keep the primary and secondary coils sufficiently close together to provide high-efficiency energy transfer, for example, 60% or more for conventional transformer materials, and 80% or 90% or more in the case of amorphous metal transformers. This efficiency may be superior to conventional wireless inductive charging and is certainly lower in cost. In one embodiment, the electromagnetic force generated by the primary coil acts as an electromagnet, attracting the conical socket 230-A and the conical plug 220-A together due to their iron composition. This design reduces the force required to engage the opposing charger halves compared to most other conductive plugs that utilize interference fit between a cylindrical plug or rectangular blade and a mating receptacle. In this embodiment, the primary and secondary coils are recessed into their respective bodies. This eliminates protruding windings or wavy surfaces of stacked windings that could hinder the smooth insertion and engagement of the conical cone into the conical socket, resulting in a linear and smooth mating surface. In addition, an insulator may be filled into the gaps between the wires to create a smooth conical surface.To facilitate quick and complete installation, optional Teflon or low-friction coatings may be applied to both the conical plug and the conical socket.

[0042] Since coils 225-A and 234-A are essentially in direct contact, subtracting the thickness of at least one or both of the insulators of the coils, the charger operates as a transformer due to the high iron content of bodies 232-A and 223-A. Therefore, this embodiment does not require resonant frequency tuning as required in inductive charging designs. In other words, this embodiment is resonant frequency independent. Rather, this embodiment can operate efficiently over a wider range of AC frequencies, and the operating frequency is selected based on maximum energy transfer or other beneficial characteristics such as noise, electromagnetic interference with other electronic equipment, etc.

[0043] In one embodiment, both the conical plug and the conical socket are grounded. In another embodiment, the individual battery packs are floating and not high voltage, and the fault goes to the chassis, which acts as ground.

[0044] The electronic components for power transfer may be mounted directly within the housings (conical body 223-A or socket body 232-A) for the primary and / or secondary coils of the transformer interface to minimize the travel distance of high-frequency signals. Further details regarding the electronic components are given later in Figure 5.

[0045] In this embodiment, the shape assignment is described as an upward-facing conical plug 220-A for the primary coil and a downward-facing conical socket 230-A for the secondary coil. This is primarily for maintenance purposes, to prevent foreign matter, debris, and other interference from accumulating in the upward-facing conical socket that drops the debris. However, if the orientation is reversed, debris will certainly accumulate in the upward-facing conical plug due to gravity. However, the roles can be easily reversed in a given charging infrastructure. In one embodiment, a through-hole at the apex of the conical socket that connects to the outside world allows small debris to fall completely through the device. Furthermore, one embodiment of the conical plug utilizes a rounded snub nose to prevent the sharp tip nose from catching on the side wall of the conical socket during engagement.

[0046] Alignment between the conical socket 230-A and the conical plug 220-A can be achieved in various ways in this embodiment, where directional alignment is divided between the socket 230-A, which performs forward and backward movement and alignment, and the plug 220-A, which performs lateral movement, alignment, and vertical engagement. These roles may be interchangeable or grouped within a given alignment and engagement protocol to ensure compatibility among all users of the protocol.

[0047] Referring to Figure 2B, cross-sectional views of matched nominal energy primary and secondary coil wireless charging transformers according to one or more embodiments are shown. Referring to Figures 2C and 2D, one or more mismatched but functional primary and secondary charging scenarios according to the embodiment are shown. Specifically, as shown in Figure 2C, a small, low-power charger (primary winding) 220-C Large, high-power battery (secondary winding) 230-C To enable operation, conical plugs and sockets can be of different sizes, having one or more windings. Conversely, as shown in Figure 2D, large, high-power chargers (primary winding) 220-D This is a small, low-power vehicle / battery (secondary winding) 230-D It can be used in conjunction with the following. The use of a fixed internal angle for the conical plug and receptacle allows for size mismatches while providing a functional charger.

[0048] The secondary winding 234-A may be protected by a spring-loaded door that is pushed aside when the conical plug 220-A engages with and faces the conical socket 230-A. This type of transformer may be designed with an air gap so that it has some resistance to dust and contaminants. The winding itself is insulated, but the core material is expected to be grounded (simply by contact).

[0049] Referring to Figure 2D, a cross-sectional view of a wireless charging transformer comprising a large primary coil and a small secondary coil according to one or more embodiments is shown. In this embodiment, a large conical plug 220-D having a standard-sized primary coil 225-D1 interfaces well with the inner surface of a standard or small conical socket 230-D having a standard-sized secondary coil 234-D. It is positioned substantially away from the standard-sized primary coil 225-D1. The large primary coil 225-D2 does not have an available paired secondary coil, and there is no harm in this. While this configuration may result in slightly lower efficiency, its ability to interface with a wide range of socket sizes and power ratings, from high-power sockets of comparable size to standard and small sockets, offers the advantage of universality with a single conical plug for a wide range of vehicle and battery pack sizes and needs.

[0050] Referring to Figure 2E, a cross-sectional view of a wireless charging transformer 200-E with matched high-energy primary and secondary coils according to one or more embodiments is shown. In this embodiment, any amount, size, and quantity of windings can be used for the high-energy primary and secondary coils. In one embodiment, the larger primary coil 225-E2 and secondary coil 234-E2 are sized to have similar or different power capacities to the smaller primary coil 225-E1 and secondary coil 234-E1. This allows the increased power transfer from the smaller coils to the larger coils to be linear or substantially large, i.e., exponential, so that lower charging requirements are safely met, while higher charging requirements can meet the high-energy needs of large commercial applications.

[0051] Referring to Figure 2F, a cross-sectional view is shown of a wireless charging transformer having a non-rotating pyramidal shape with matched high-energy primary and secondary coils according to one or more embodiments. Edge 246 forms the base of the four-sided pyramid, but pyramids with any number of faces may be used. Any other shape may be used for the ferromagnetic core or shield and associated windings, as long as the pattern matches the given charging power, scenario, or application. Different incompatible shapes are used for different charging powers, scenarios, or applications to prevent misconnections.

[0052] Referring to Figure 3A, a charging system 300-A is mounted on a robotic arm 308, having a conical plug 220-D (primary assembly) that can be maneuvered to face a secondary assembly on a vehicle, for example, by a vertically moving telescopic or scissor jack 306. The robotic arm 308 can be mounted on a base robotic structure that has one or more degrees of freedom to swing, extend or rotate the robotic arm 308 to face the charging receiver. A wired AC power supply 331 is supplied to the conical plug 220-D as a grid-to-vehicle (G2V) system in this embodiment. The tip 222 of the conical plug 220-D is provided with an optional LED for alignment with a light sensor 221 located in a conical socket, as shown in Figure 2C.

[0053] Referring to Figure 3B, a self-propelled robot 300-B according to one or more embodiments is shown. The robot assembly 300-B includes an electric tracking chassis having a power source 334 such as a tethered AC 331 or an internal DC battery and / or supercapacitor source, an inverter 332 for sensing charge status, charge cutoff time, temperature profile and overhead conditions, a battery management system (BMS) 342 and / or thermal management system (TMS) 340, and one or more power control electronic modules. One or more telescopic shafts having conical plugs 220-E1, 220-E2 for horizontal and / or vertical coupling and charging to loads such as EVs may be extended from the robot 300-B using replacement units based on mechanical means such as pneumatic, hydraulic or spool cable rigid nylon rope. Thus, a single charging source 300-B can be used to charge one or more battery packs simultaneously and in parallel in a single application such as a commercial truck, or in multiple applications such as the battery packs of each vehicle parked in parallel.

[0054] The inverter module 332 may include a switch-mode power supply (DC boost converter) that boosts a standard DC voltage from a 12V, 24V, or 48V supply to a higher voltage, for example, 110V, and then converts it to AC. Alternatively, the DC may be converted to AC at a predetermined battery pack level within the robot, and then a desired AC output voltage is generated using a transformer of a desired frequency within the robot.

[0055] Another embodiment is the vehicle-to-grid (V2G) bidirectional capability of the energy transfer robot 300-B. In this embodiment, a rectifier and bidirectional switch added to the robot 300-B enable bidirectional current modes, specifically current transfer from the vehicle to the robot 300-B. This allows surplus power to be supplied to the grid from a remote power storage unit, such as a parked EV, during a power outage crisis. Instead of repeatedly moving the parked car to access the plug, the mobile robot 300-B moves to the vehicle, receives a charge from the vehicle, then moves to the AC power source and connects to the grid to supply power. The onboard inverter 332 or EVSE inverter converts DC to AC to match the grid frequency and power phase.

[0056] Both the robotic arm 300-A and the self-propelled robot 300-B may be fitted with a secondary assembly by various means such as a single reflector or pattern thereof, for example, infrared LEDs, tracking, machine vision, cameras, RF transponders, triangulation, ultrasonic positioning, global positioning system (GPS), navigation (NAV) module 336, an optional antenna 321, and any wireless means provided by optical sensor sets 322-A, 322-B.

[0057] Cooling for transformer operation may include a liquid coolant supplied by supply line 346, which flows out from near the top of the conical surface of plug 220-E2 and is collected in recycling pan 348 for filtering and reuse. An optional air-cooling fan (not shown) with aluminum cooling fins coupled to the conical plug 220-E2 may also be provided to mitigate the heat generated from transformer operation.

[0058] This mobile robot embodiment is ideal for retail store parking lots or apartment / condominium parking lots. In these applications, parking areas are separated from the building by driveways, where power outlets that would be charged to users are unavailable, sufficient EVSEs are not available for long-term, low-cost overnight charging, and easily accessible power outlets are not available. In these applications, the robot can quietly and seamlessly traverse the parking lot overnight, transferring EVs from the EV to the EVSE to bring them to the desired charging state.

[0059] Referring to Figure 3C, a self-propelled platform 350 for a primary coil with a brushless cord spool is shown according to one or more embodiments. The rotary table 362 is driven by three or more rack-and-pinion assemblies 354 (located on the outer edge of the lip). The cord spool 368 remains fixed to the chassis 372, and a roller 360 having an electrical cord dispenser motor 361, a dispenser outlet and a tensioner 363 dispenses and retracts the electrical cord in a controlled manner. The chassis 372 rotates as the electrical cord is dispensed or retracted. A powertrain 358 drives a roller ball 370 that provides translational motion. A powertrain motor 356 controls one or more paddle wheels on the chassis 372 to rotate the chassis 372. An internal battery 362 can provide cordless charging of the load, particularly in the event of a grid outage or when a remote application does not have grid power. Components such as the optional antenna 321 and optical sensor assemblies 322-A and 322-B are coupled to the top of the chassis 372. A description of these components is given in Figure 3B. Various cord ends may include a 220V plug 364-A, a 110V plug 364-C, and an EV plug-in adapter 364-B, allowing the EVSE fixed power unit to plug into the self-propelled platform 350, which is intended for the EV itself, thereby providing remote service convenience to EVs far from the EVSE. The cable tensioner 363 is motor-driven to ensure that the cable is tightly wound onto the drum without applying tension to the external cable, which is expected to lie loosely on the floor or road surface. The motor itself may be a stepping motor for precise control of cable feeding and unfeeding, or a current control loop may simply supply continuous tension as needed.

[0060] Referring to Figure 4, schematic diagrams illustrating the application of manual and automatic charging to an EV according to one or more embodiments are shown. Robotic charging equipment in a vehicle can be incorporated by using a low-profile plug mounted on the charging door 416, for example, a plug that connects to a robotic charging interface (conical socket) or activates a relay switch to do so, so that a standard SAE / CHAdeMO / etc. interface connects to a transformer secondary module after the door is closed. Primary-side electronics are attached to the charger by plugging a cable into either the robot (instead of the car) or an equivalent connection, and power simply passes through so that the vehicle receives the same power as if it were directly connected. In this configuration, the system charges comprehensively from only one source, either by the user manually connecting an EVSE charging cable via a standard SAE / CHAdeMO / etc. interface or by the robotic charging interface providing the charge. In another embodiment, piggyback power from a rectifier / transformer robotic charging interface supplements the standard SAE / CHAdeMO / etc. interface charging. In this embodiment, communication between two systems via a mobile application or local / centralized management service harmonizes charging, time, heat, and battery management algorithms so that they fit within the specifications of the battery pack.

[0061] The terms primary and secondary refer to the transfer of power to the vehicle, but this is merely nominal, and power can be transferred in other ways if the electronics allow it. Power is sent to a charger and can then power homes or the grid (V2G). In the case of large-scale fast charging, the charger may have battery storage that allows for buffering of energy to and from the grid, and energy can be transferred from the EV to it for later use.

[0062] If there is a charger with multiple robots and multiple vehicles, and the power electronics are bidirectional, power can simply be transferred from vehicle to vehicle. For example, if a charged high-capacity EV is parked next to a small, run-out EV, the larger battery can charge the smaller battery so that the commuter can drive home.

[0063] The vehicle can have multiple secondary units in different locations, such as the front and rear bumpers (even if there is only one battery pack), which allows power to be shared when lateral connection is preferred, such as wall-mounted chargers in front of an EV or EV-to-EV in a convoy scenario.

[0064] To connect units mounted forward or backward, the robot's movements can be separated such that the EV end has (extension) and some vertical movement (angle up / down), and the (wall-mounted) end has some lateral movement (e.g., movable on rails).

[0065] The fast charger itself can be a robot (with onboard storage) that can move around the parking lot to charge and refuel as needed and may have multiple attached sub-robots for connecting to EVs. The robot can also connect to other vehicles such as hybrid cars or trucks that can burn fuel (such as biodiesel or hydrogen) to recharge or charge adjacent EVs, and may also have onboard power generation capabilities in addition to the battery.

[0066] High-rise garages, parking lots, and structures with solar panel canopies may be fitted with robots that simply supply power to any parked EV, rather than being connected to the grid. This is a desirable scenario to avoid the "duck curve" problem caused by overgeneration.

[0067] In this embodiment, no links or couplings between batteries are used to charge the batteries. Rather, each battery is charged in isolation by local connections connected to mobile and / or aligned charging devices, each having independent lead wires connected to only one battery pack or a portion of a battery pack. This embodiment uses local, thick pipes with separate inputs to each battery pack, rather than conventional serial charging through multiple or all battery packs.

[0068] Referring to Figure 5A, electrical circuit diagrams of multiple wireless charging transformer interfaces for individually charging each battery pack pair according to one or more embodiments are shown. Each battery charging interface 520-A to 520-D includes a full-wave rectifier 510 (or alternatively a half-wave rectifier) ​​consisting of a diode or any other type of current direction control device. The secondary coil 512 is paired with the primary coil 513, and the arrows indicate the diagram. 2B-2E As shown, different sized interfaces capable of transferring more or less power are illustrated. Notably, battery pack 520-D has an 80% starting SOC, while battery pack 520-C has a 60% SOC, and both require charging. However, battery pack 520-B is fully charged at 95% and does not require an additional charging source unless all battery packs are in a state to be charged or full charging is desired. The AC source 514 may be converted power supplied from a DC battery and / or supercapacitor. Time-division multiplexing allows the battery packs to share the automatic robot power supplies 530-A through 530-D. Although battery packs 520-A through 520-D are illustrated in series to reach a high traction voltage, if one or more battery packs are connected in parallel, the connections may be shared between packs if there are fewer robots than packs (to avoid stressing individual packs). Several examples of robot power supplies are shown in Figures 3A and 3B.

[0069] Referring to Figure 5B, a schematic diagram of an EV motor drive in which power electronics according to one or more embodiments can be reused to drive a primary transformer for V2G. This configuration utilizes the EV's own motor drive power electronics to supply power to the transformer connection windings of the robot acting as the primary winding. Thus, the disclosure operates as a bidirectional energy transfer system at minimal additional cost. Furthermore, by using phase drives independently, it is possible to drive separate transformers for each phase. Another configuration utilizing a delta configuration of the transformers enables operation without the use of capacitors. Cooling and cleaning

[0070] High-power fast charging is efficient, but at 100kW, there is a loss of well over 1kW (1%) in the transformer connection, and the same can happen in power electronics. This inefficiency is mostly converted into heat, requiring cooling. Active cooling of the transformer can be achieved by a coolant, such as water, supplied from the primary conical plug through the middle of the main housing that houses the active coils, and recirculating through the gap between the primary and secondary coils (between the conical plug and the conical socket). The coolant falls into the robot housing by gravity, where it can be recovered and reused. The robot can go to a water source to replenish the water as needed. This cooling method also functions as a cleaning mechanism. The fluid may be a composition or may contain additives that play some role, such as corrosion inhibitors. Grooves or some kind of conduit provided on one or both contact surfaces of the conical plug or conical socket provide a path for the fluid, in gaseous or liquid form, to escape from the transformer. Alternatively, passive cooling may be provided on the exposed surface (other than the interface surface) of the conical plug and / or conical socket, such as aluminum cooling fins optionally equipped with an active cooling fan for air convection cooling. communication

[0071] When an infrared laser is used as a positioning mechanism, the robot / secondary communication can also function as a communication channel with a line of sight. The infrared laser can be positioned in the center of the opposing, close-proximity primary / secondary assemblies. In addition, conventional communication methods such as mobile phones, WiFi, Zigbee, and Bluetooth can be used for monitoring equipment status, scheduling charging, and setting up charging and billing orders. operation

[0072] Referring to Figure 6, flowchart 600-A shows a method for resonant frequency-independent, scalable, and wireless transformer power transfer according to one or more embodiments. In one embodiment, process 400 is carried out by the apparatus and application shown in Figures 1A to 5.

[0073] Operation 602 receives a charging request from a mobile app, cloud, or interface EV service equipment kiosk or user interface panel. Output 602-A provides the amount and rating of the battery pack to be charged for a given application of the user. This may be a wireless ID, RFID, barcode, QR code, or any other identification means.

[0074] Operation 604 arbitrates the charging resources to the battery packs. The output of 604-A determines the duration and rotation of the charging resources. For example, if there is twice the demand for charging the batteries for the charger's supply, the charger operates at a 50% duty cycle for a predetermined charging period or duration, evenly charging the initial charge state (SoC) of the battery pack set to approximately equivalent final charge states. Alternatively, if the battery pack or its individual chargeable parts have uneven initial charge states, the arbitration unit distributes the duration and rotation so that the battery with the lowest SoC receives the longest and highest power charge, while the battery pack with the highest initial SoC receives a shorter duration and rotates the charger more frequently. In this way, time-division multiplexing across multiple battery packs is achieved. This reduces stress on the positive electrode, prevents lithium burnout on the negative electrode (in the case of lithium-ion batteries), and maintains a moderate battery temperature (avoiding overheating) by giving time for surface charging or high charge C-rate input to dissipate through battery balancing. Mobile robots offer capabilities that cannot be achieved with manual plugging operations.

[0075] Operation 606 deploys a charging interface to the vehicle. The vehicle's charging interface is the secondary winding portion of the transformer interface. The charging interface may be recessed, dynamic or expandable, and fixed statically to the application, e.g., an EV, and protected, for example, by an access panel. Other features of the charging interface include positioning functions, which may include either active outputs such as wireless signals or ultrasonic signals, or passive positioning such as optical reflective surfaces that provide direction to wheeled robot units or robot arms, etc. Several embodiments of the charging interface are illustrated and described in Figures 1B and 1C. Most applications will have multiple charging interfaces, as shown in the aforementioned drawings and Figure 5. Output 606-A provides quality control (QC) checks for alignment and power transfer efficiency, e.g., leakage current detection. A feedback system monitoring the SoC may provide an indicator of power transfer efficiency. If the SoC rises more slowly than expected, the interface may be retrieved and redeployed and / or a replacement charging supply unit may be replaced. For example, load applications such as EVs may be static (parked) or dynamic (driving). Charging interfaces that are exposed or extended while driving are shown in Figure 1B, such as the charging interfaces located on the front and rear bumpers of the EV.

[0076] Operation 608 propels, moves, or aligns the charging unit with respect to a load, such as a vehicle. Embodiments that provide a certain type of movement or motion, as shown in Figures 3A, 3B, and 5, are useful for automatically aligning the primary coil of the charging unit with a corresponding charging interface on the load. One or more position sensors 608-A as inputs are used to achieve the alignment mentioned in Figure 3B. As outputs, 608-B provides feedback to a propulsion or movement control mechanism to direct the placement device, such as in a robotic arm or a self-propelled energy source.

[0077] Operation 610 aligns the primary and / or secondary coils of the transformer. The primary and secondary coils are convex and concave geometric self-centering cones, and with the help of gravitational weight on the vertically extending interface, the system's flexibility and robustness against nominal alignment errors are improved compared to other designs. In this embodiment, it is sufficient for the primary and secondary coils to be located within a distance of 2.5 mm, 5.0 mm, or 10 mm or more for the self-centering mechanism to compensate for misalignment and for the conical coils to be fully mounted with surface contact between them. Other features such as flexible cords or articulated robot arms allow for vibration or small movements of the conical plug to ensure that the conical plug is properly mounted and the center of the conical socket is found. Optional lubricants added to the conical plug also help ensure a smooth and fully mounted interface between the conical plug and the conical socket. This operation can use optical alignment 610-A, self-centering 610-B, and separation axis 610-C. The output results include contact pressure 610-D, electromagnetic coupling 610-E, and self-controlled coil engagement and voltage level 610-F.

[0078] The 612 operator manages charging according to the OEM's EV, GRID needs and performance requirements. Inputs include 612-A, which is resonant frequency independent of inductive charging, 612-B, which has sufficient contact, and 612-C, which provides temperature measurement to prevent overheating. option

[0079] Reference numerals enclosed in parentheses in the claims should not be construed as limiting the claims. Terms such as “comprising” do not preclude the existence of other elements or steps beyond those described in the claims. Furthermore, as used herein, “a” or “an” is defined as “one or more.” Also, the use of introductory phrases such as “at least one” or “one or more” in a claim should not be construed as meaning that the introduction of another claim element by the indefinite article “a” or “an” limits a particular claim containing such introduced claim element to an invention containing only one such element, even if the same claim contains the introductory phrase “one or more” or “at least one” and an indefinite article such as “a” or “an.” The same applies to the use of definite articles. Unless otherwise specified, terms such as “first” and “second” are used optionally to distinguish the elements described by such terms. Therefore, these terms are not necessarily intended to indicate a temporary or other priority of such elements. The mere fact that certain means are enumerated in different claims does not indicate that combinations of these means cannot be used advantageously.

[0080] As used throughout this application, terms such as “may” or “can” are used in an acceptable sense (i.e., meaning to have the possibility or ability to do something) and not in a required sense (i.e., meaning to have the ability to do something). Similarly, the terms “include,” “including,” and “includes” mean “includes, but not limited to,” the items described.

[0081] Various units, circuits, or other components may be described as “configured to” perform one or more tasks. In such contexts, “configured” broadly describes a structure that “has a circuit” that performs one or more tasks during operation. Thus, a unit / circuit / component may be configured to perform a task even when the unit / circuit / component is not currently on. Generally, the circuit that forms a structure corresponding to “configured” may include hardware circuitry. Similarly, for convenience of description, various units / circuits / components may be described as performing one or more tasks. Such descriptions should be interpreted as including the phrase “configured.” Descriptions of units / circuits / components configured to perform one or more tasks are explicitly intended not to evoke the interpretation of 35 U.S.C. § 112, paragraph 6 for that unit / circuit / component.

[0082] As will be clear from the preceding discussion, unless otherwise stated, discussions throughout this embodiment using terms such as “receiving,” “charging,” “arbitrating,” “deploying,” “propelling,” “aligning,” “managing,” “transmitting,” “operating,” “communicating,” “executing,” and “replacing” will be understood to refer to the operation and processing of integrated circuits, ASICs, memory devices, computer systems, or similar electronic computing devices. Memory devices or similar electronic computing devices process and convert data represented as physical (electronic) quantities in the device’s registers and memory into other data similarly represented as physical quantities in the device’s memory, registers, or other such information storage, transmission, or display devices.

[0083] The methods and operations described herein may be in a different sequence, for example, a different order, than the exemplary ones described herein. Accordingly, one or more additional new operations may be inserted into existing operations, or one or more operations may be omitted or deleted, depending on the intended use.

[0084] Other features of this embodiment will become apparent from the accompanying drawings and detailed description. Furthermore, it will be understood that, under the control of computer-readable and computer-executable instructions stored in a computer-usable storage medium, the processor and electrical user interface control can at least partially perform the various operations, processes, and methods disclosed herein. Computer-readable and computer-executable instructions belong to data storage mechanisms such as computer-usable volatile and non-volatile memory, and are non-temporary. However, non-temporary computer-readable and computer-executable instructions can belong to any type of computer-usable storage medium.

[0085] The preceding descriptions relating to specific embodiments of this disclosure are presented for illustrative and explanatory purposes only. They are not intended to exhaust or limit the invention to the exact form disclosed. Many modifications and variations are possible in light of the above teachings without departing from the broader spirit and scope of the various embodiments. The embodiments are selected and described in a manner that best illustrates the principles and practical applications of the invention, thereby enabling those skilled in the art to best utilize the invention and its various embodiments with various modifications to suit a particular intended use. It should be understood that the embodiments described herein may be used or practiced individually or in combination with each other. Although this disclosure is described in particular embodiments, it should be understood that the invention should not be constrained by such embodiments, but rather by the appended claims and their equivalents. The invention is defined by the features of the appended claims.

Claims

1. An electrical charging unit for wireless energy transfer, Two or more first windings capable of pairing with one or more other windings for wireless energy transfer between two or more first windings and one or more other windings, The system comprises a first ferromagnetic core around which the two or more first windings are wound, The two or more first windings are not electrically connectable to the one or more other windings. The two or more first windings do not need to be arranged in a plane. The two or more first windings described above function as primary windings for supplying energy. The two or more first windings are one half of a transformer that can be selectively separated from the one or more other windings during charging operation. The two or more first windings are connectable in a nested manner to the one or more mating windings. The power to be transferred is automatically determined by a predetermined number of the first windings pairing with the same predetermined number of the other windings. An electric charging unit characterized in that the resonance frequency tuning of the two or more first windings with respect to one or more opposing windings is not required for inductive charging.

2. The electrical charging unit according to claim 1, characterized in that the internal angle formed by the shapes of all two or more first windings is greater than 0 degrees and less than 180 degrees.

3. The electrical charging unit according to Claim 1, characterized in that the two or more first windings form individual members of a plurality of transformer halves, each of the two or more first windings is arranged substantially apart from one another, and the two or more first windings form a conical, hemispherical, or pyramidal shape.

4. The electrical charging unit according to claim 1, characterized in that the two or more first windings are mechanically self-aligned with one or more second windings due to their conical and equiangular shape.

5. The electrical charging unit according to claim 4, characterized in that the two or more first windings are coupled by an internal ferromagnetic core and an external ferromagnetic shield arranged along the alignment axis of the two or more first windings and the one or more mating windings.

6. The two or more first windings arranged on the first ferromagnetic core can be configured as primary windings or secondary windings. The electrical charging unit according to claim 1, characterized in that the one or more opposing windings can be configured as complementary winding functions to the two or more first windings in order to provide bidirectional energy transfer.

7. The first ferromagnetic core is Iron materials suitable for AC frequencies below 100 Hz, The electrical charging unit according to claim 1, characterized in that it is composed of at least one of the following: a ferrite material suitable for AC frequencies higher than 10 kHz.

8. A light source positioned in close proximity to the first ferromagnetic core, The system further comprises a light sensor positioned in close proximity to the first ferromagnetic shield, The electrical charging unit according to claim 1, characterized in that the light source and the light sensor provide alignment for charging.

9. A chassis and, The powertrain coupled to the chassis, A brushless cord spool coupled to the chassis for the electrical cord, Equipped with an electrical charging unit for wireless energy transfer, The electrical charging unit comprises two or more first windings that can be paired with another winding for wirelessly transferring energy between two or more first windings and another winding, and a first ferromagnetic core around which the two or more first windings are arranged. The two or more first windings are not electrically connectable to the other windings. The two or more first windings do not need to be arranged on a plane. The two or more first windings described above function as primary windings for supplying energy. The two or more first windings are one half of a transformer that can be selectively separated from the one or more other windings during charging operation. The two or more first windings are connectable in a nested manner to the one or more mating windings. The chassis is configured to rotate in order to discharge the electrical cord from the brushless cord spool. The power to be transferred is automatically determined by a predetermined number of the first windings pairing with the same predetermined number of the other windings. An autonomous electric charging system characterized in that the resonance frequency tuning of the two or more first windings with respect to one or more opposing windings is not required for inductive charging.

10. A local battery pack, The autonomous electric charging system according to claim 9, further comprising an inverter coupled to the local battery pack and driving two or more first windings in the electric charging unit.

11. While the chassis is moving to the load to be charged, the chassis further comprises a cable guide coupled to it for arranging the electrical cords, The autonomous electric charging system according to claim 9, characterized in that the cable guide has a dispenser motor and a dispenser outlet connected to the dispenser motor.

12. The autonomous electric charging system according to claim 9, characterized in that the two or more variable first windings are paired with one or more second windings to charge different power levels and make the power level of the charge variable.

13. The autonomous electric charging system according to claim 9, further comprising a liquid coolant system for supplying a liquid coolant to at least one of the two or more first windings and the first ferromagnetic core.

14. The electric charging unit is Two or more first windings capable of pairing with one or more other windings for wireless energy transfer between two or more first windings and one or more other windings, The system comprises a first ferromagnetic core around which the two or more first windings are wound, The two or more first windings are not electrically connectable to the one or more other windings. The two or more first windings do not need to be arranged in a plane. The two or more first windings described above function as primary windings for supplying energy. The two or more first windings are one half of a transformer that can be selectively separated from the one or more other windings during charging operation. The two or more first windings are connectable in a nested manner to the one or more mating windings. Move any of the two or more first windings or one or more of the other windings to a position where they are close to each other. The conical and equiangular shape causes the axes of the two or more first windings to self-align coaxially with the axes of the one or more opposing windings. Along the axis that is substantially coaxially aligned with the two or more first windings and the one or more mating windings, the two or more first windings and the one or more mating windings are aligned vertically. The power to be transferred is automatically determined based on the pairing of a predetermined number of the first windings with the same predetermined number of the mating windings. A method for wirelessly transferring energy from an electrical charging unit to a load, characterized in that the resonant frequency tuning of the two or more first windings with respect to one or more opposing windings is not required for inductive charging.

15. The method according to claim 14, characterized in that the two or more variable first windings are paired with one or more opposing windings to make the power level of charging variable.

16. The brush is not required to transfer power from the electrical cord to the two or more first windings. The method according to 14, characterized in that the chassis of the electrical charging unit is configured to rotate in order to discharge the electrical cord from the brushless cord spool.

17. The autonomous electric charging system according to claim 9, further comprising motor-driven power electronics connectable to the electric charging unit, wherein the motor-driven power electronics are configured to supply power to two or more first windings of the electric charging unit.

18. A plug with two or more first windings arranged around it, The socket further comprises one or more mating windings arranged around it, The autonomous electric charging system according to claim 9, characterized in that the number of first windings in the plug does not necessarily have to match the number of mating windings in the socket.

19. The number of first windings in the plug is different from the number of mating windings in the socket, The autonomous electric charging system according to claim 18, characterized in that the power transferred between the plug and the socket is automatically determined by a predetermined number of first windings matching with the same predetermined number of mating windings of the socket.

20. comprising multiple electrical charging units for wireless energy transfer, Each of the aforementioned electrical charging units is Two or more first windings that can be paired with another winding in order to wirelessly transfer energy between two or more first windings and another winding, The first ferromagnetic core has two or more first windings wound around it, The two or more first windings are not electrically connectable to the other windings. The two or more first windings do not need to be arranged in a plane. The two or more first windings described above function as primary windings for supplying energy. The two or more first windings are one half of a transformer that can be selectively separated from the one or more other windings during charging operation. The two or more first windings are connectable in a nested manner to the one or more mating windings. The power to be transferred is automatically determined by a predetermined number of the first windings pairing with the same predetermined number of the other windings. The resonance frequency tuning of the two or more first windings with respect to one or more opposing windings is not required for inductive charging. An autonomous electrical charging infrastructure characterized in that two or more of the aforementioned multiple electrical charging units individually charge battery pack pairs for predetermined applications in parallel.

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