Power supply apparatus, control method therefor, control apparatus and system

Abstract

A power supply apparatus and a control method therefor. The power supply apparatus comprises an energy transmitting coil (100), a support component (200), and a control component; the energy transmitting coil (100) is used for providing energy to an apparatus to be charged; a first end of the support component (200) is connected to the energy transmitting coil (100), and a second end of the support component (200) is connected to a first plane (300), the first plane (300) comprising the ground of a first charging region or the surface of a building; when the energy transmitting coil (100) transmits energy in a first pose, the control component adjusts the pose of the first end of the support component on the basis of a first energy loss, so as to adjust the pose of the energy transmitting coil (100) in the first charging region, the first energy loss being determined on the basis of the energy transmitted by the energy transmitting coil (100) in the first pose and energy received by the apparatus to be charged. The solution can be applied to the technical field of wireless charging, and helps to improve the alignment degree between a power supply coil and a power receiving coil, thus increasing charging efficiency and safety during charging.

Description

Power supply device and control method, control device and system thereof

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on June 28, 2023, with application number 202310781150.X and invention name “Power supply device and its control method, control device and system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of wireless charging technology, and more specifically, to a power supply device and a control method, a control device, and a system thereof. Background Art

[0003] As vehicles move toward electrification and intelligentization, wireless power transfer (WPT) technology has rapidly developed and become widely used in vehicle charging due to its convenience, safety, and low maintenance costs. Wireless charging technologies include radio frequency or microwave wireless charging, electromagnetic induction wireless charging, and electromagnetic resonance wireless charging. Electromagnetic induction wireless charging is the most widely used technology. It relies on a high-frequency alternating electromagnetic field between a separate power supply coil and a power receiving coil, inducing an AC current in the receiving coil. After rectification and filtering, the current is used to charge the battery pack of the electric vehicle.

[0004] However, the efficiency and power of electromagnetic induction wireless charging are affected by the offset between the power supply coil and the receiving coil. For example, in a 6.6-kW wireless charging system, if the power supply coil and the receiving coil of a vehicle are offset 10 cm perpendicular to the magnetic field between the two coils, the power loss at the power supply coil, where the power transmitter is located, increases by 82.11% to 591.51 watts compared to when the two coils are aligned perpendicular to the magnetic field between them. This value is similar to the power of a typical household electric kettle, resulting in a maximum surface temperature of 95°C at the power transmitter, potentially igniting low-ignition-point foreign objects such as catkins and even causing burns to humans or animals.

[0005] In view of this, a charging solution that can improve the alignment between the power supply coil and the power receiving coil is in urgent need of development.

[0006] Summary of the Invention

[0007] The present application provides a power supply device and a control method, a control device, and a system thereof, which can adjust the position and / or posture of a power supply coil during charging, thereby improving the alignment between the power supply coil and the power receiving coil.

[0008] In a first aspect, a power supply device is provided, comprising an energy transmitting coil, a support component, and a control component; wherein the energy transmitting coil is used to provide energy to a device to be charged; a first end of the support component is connected to the energy transmitting coil, and a second end of the support component is connected to a first plane, the first plane comprising the surface of the ground or a building in a first charging area; when the energy transmitting coil transmits energy in a first posture, the control component adjusts the posture of the first end of the support component according to a first energy loss to adjust the posture of the energy transmitting coil in the first charging area, wherein the first energy loss is determined based on the energy transmitted by the energy transmitting coil in the first posture and the energy received by the device to be charged.

[0009] In the above technical solution, the power supply device can adjust the position and posture of the energy transmitting coil (such as the power supply coil) based on the energy loss during the charging process. This not only improves the mutual inductance coefficient and charging efficiency between the energy transmitting coil and the energy receiving coil, thereby reducing energy loss during the charging process and thus reducing safety hazards, but also reduces the complexity of aligning the charging position of the device to be charged (such as a vehicle). In addition, adjusting the position and posture of the energy transmitting coil based on energy loss not only ensures that energy loss does not suddenly change during the charging process, but also helps to adapt to different models and different parking positions of devices to be charged.

[0010] The connection between the first end of the supporting component and the energy transmitting coil may be a dynamic connection or a static connection.

[0011] Exemplarily, the control component adjusts the posture of the first end of the support component according to the first energy loss, including: the control component adjusts the position and / or posture angle of the first end of the support component.

[0012] In some possible implementations, the control component adjusts the posture of the first end of the support component so that the energy transmitting coil is parallel to the energy receiving coil of the device to be charged.

[0013] In some possible implementations, the power supply device includes a fixed base connected to the second end of the supporting component, and the second end of the supporting component can be connected to the first plane through the fixed base.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the device further includes a sensor, which is arranged on the energy transmitting coil and is used to detect the magnetic field strength between the energy transmitting coil and the energy receiving coil of the device to be charged; the control component is used to: adjust the position of the first end of the support component according to the first energy loss and the magnetic field strength.

[0015] For example, the sensor may include multiple sensors that are evenly arranged around the energy transmitting coil, for example, evenly arranged on the inner circle of the energy transmitting coil, or evenly arranged on the outer circle of the energy transmitting coil.

[0016] In the above technical solution, the position of the energy transmitting coil is adjusted according to the magnetic field strength and energy loss between the energy transmitting coil and the energy receiving coil during the charging process, which can not only reduce the energy loss, but also increase the magnetic field strength of the induced magnetic field of the energy receiving coil, thereby achieving a balance between energy loss and magnetic field strength.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the control component is configured to: when the first energy loss is greater than or equal to a loss threshold, adjust the position of the first end of the support component to adjust the energy transmitting coil from the first position to a second position, wherein the second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second position is less than the loss threshold, and the magnetic field strength is within a set range.

[0018] In one example, the first energy loss may be power loss, and the loss threshold may be 15% of the power supply, or 20% of the power supply, or other values.

[0019] In another example, the first energy loss may be average power loss, for example, average power loss per minute, and the loss threshold may be 15% of the supplied power, or 20% of the supplied power, or other values.

[0020] In some possible implementations, the setting range of the magnetic field strength may be determined according to the power supply of the power supply device.

[0021] In the above technical solution, controlling and adjusting the position of the energy transmitting coil when the energy loss is greater than or equal to the loss threshold helps save the energy and computing power required to adjust the position of the energy transmitting coil during charging. When the energy loss is less than the loss threshold, adjusting the position of the energy transmitting coil based on the magnetic field strength helps further reduce energy loss during charging and improve charging efficiency.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the support component includes a telescopic component, a first limiting component and a second limiting component, the first end of the telescopic component is connected to the first limiting component, the second end of the telescopic component is connected to the second limiting component, the first limiting component is located at the first end of the support component, and the second limiting component is located at the second end of the support component; the first end of the support component is connected to the energy transmitting coil, including: the support component is connected to the energy transmitting coil through the first limiting component; the second end of the support component is connected to the first plane, including: the support component is connected to the first plane through the second limiting component.

[0023] For example, the telescopic component can be a pneumatic telescopic rod, or a connecting rod slide structure with a position sensor, or other structures that can achieve telescopic movement. The limiting component can be implemented by a stepper motor or a servo motor.

[0024] In the above technical solution, the first end of the supporting component can be freely adjusted through the telescopic component and the limiting component, which is more flexible and helps to adapt to various charging scenarios.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the control component adjusts the posture of the first end of the support component according to the first energy loss, including adjusting at least one of the following: the axial length of the telescopic component, the attitude angle of the first limiting component, and the attitude angle of the second limiting component.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the supporting component includes a first connecting rod, a second connecting rod, a rotating component and a moving component, the first end of the first connecting rod is connected to the first end of the second connecting rod through the rotating component, the second end of the second connecting rod is connected to the moving component, the first connecting rod is located at the first end of the supporting component, and the moving component is located at the second end of the supporting component; the first end of the supporting component is connected to the energy transmitting coil, including: the supporting component is connected to the energy transmitting coil through the second end of the first connecting rod; the second end of the supporting component is connected to the first plane, including: the supporting component is connected to the first plane through the moving component; wherein the rotating component controls the first connecting rod to rotate in a plane parallel to the first plane, and the moving component controls the second end of the second connecting rod to move in the first plane.

[0027] Exemplarily, the connection between the first connecting rod and the energy transmitting coil is a static connection, for example, the second end of the first connecting rod is connected to the energy transmitting coil by a threaded connection, a key connection, a pin connection, etc.

[0028] In the above technical solution, taking the first plane as the ground or a plane perpendicular to the ground as an example, the energy transmitting coil is statically connected to the second end of the first connecting rod. The position of the energy transmitting coil in the first charging area can be adjusted by adjusting the movable part and the rotating part, and it can be ensured that the plane where the energy transmitting coil is located is always parallel to the first plane, which helps to reduce the complexity of controlling the energy transmitting coil.

[0029] In combination with the first aspect, in certain implementations of the first aspect, the control component adjusts the posture of the first end of the supporting component according to the first energy loss, including adjusting at least one of the following: the rotation angle of the rotating component, and the position of the moving component.

[0030] In combination with the first aspect, in some implementations of the first aspect, the second connecting rod is a telescopic connecting rod.

[0031] In the above technical solution, by adjusting the axial length of the second connecting rod, the height of the energy transmitting coil can also be adjusted, helping to adapt to various charging scenarios. For example, if the device to be charged is a vehicle, when the energy receiving coil is placed on the vehicle's chassis, it can help adapt to vehicles of different chassis heights. When the energy receiving coil is placed at the rear of the vehicle, the parking accuracy requirements for the vehicle driver can be reduced when the vehicle is parked in the charging area.

[0032] In combination with the first aspect, in some implementations of the first aspect, the device further includes a first power supply component, which is disposed at the first end of the supporting component and is used to provide current to the energy transmitting coil.

[0033] Exemplarily, the first power supply component provides current to the energy transmitting coil through a wiring harness.

[0034] In the above technical solution, the power supply component and the energy transmitting coil are arranged together, which can solve the problem of difficult management of the wiring harness caused by the change in the posture of the first end of the supporting component.

[0035] In combination with the first aspect, in certain implementations of the first aspect, the device further includes a second power supply component, a wiring harness, and a wiring harness management component. The second power supply component is arranged on the ground or in the charging pile. The second power supply component provides current to the energy transmitting coil through the wiring harness. The wiring harness management component is used to control the length of the wiring harness.

[0036] Exemplarily, the wire harness management component may include an automatic wire retracting and releasing device, and the wire harness management component may be provided on the supporting component, or may also be provided in the above-mentioned fixed base.

[0037] In the above technical solution, when adjusting the posture of the first end of the supporting component, the length of the harness is controlled by the harness management component, which can avoid the harness being too long and getting entangled, causing a malfunction of the power supply device.

[0038] In a second aspect, a control method for a power supply device is provided, which includes an energy transmitting coil and a supporting component; wherein the energy transmitting coil is used to provide energy to a device to be charged; a first end of the supporting component is connected to the energy transmitting coil, and a second end of the supporting component is connected to a first plane, and the first plane includes the surface of the ground or a building in a first charging area; the method includes: when the energy transmitting coil transmits energy in a first posture, obtaining a first energy loss, the first energy loss being determined based on the energy transmitted by the energy transmitting coil in the first posture and the energy received by the device to be charged; and adjusting the posture of the first end of the supporting component based on the first energy loss to adjust the posture of the energy transmitting coil in the first charging area.

[0039] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: obtaining the magnetic field strength between the energy transmitting coil and the energy receiving coil of the device to be charged; adjusting the posture of the first end of the support component according to the first energy loss, including: adjusting the posture of the first end of the support component according to the first energy loss and the magnetic field strength.

[0040] In combination with the second aspect, in certain implementations of the second aspect, adjusting the posture of the first end of the support component according to the first energy loss and the magnetic field strength includes: when the first energy loss is greater than or equal to a loss threshold, adjusting the posture of the first end of the support component to adjust the posture of the energy transmitting coil in the first charging area to a second posture, the second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second posture is less than the loss threshold, and the magnetic field strength is within a set range.

[0041] In combination with the second aspect, in certain implementations of the second aspect, the support component includes a telescopic component, a first limiting component and a second limiting component, the first end of the telescopic component is connected to the first limiting component, the second end of the telescopic component is connected to the second limiting component, the first limiting component is located at the first end of the support component, and the second limiting component is located at the second end of the support component; the support component is connected to the energy transmitting coil through the first limiting component; the support component is connected to the first plane through the second limiting component; adjusting the posture of the first end of the support component includes adjusting at least one of the following: the axial length of the telescopic component, the attitude angle of the first limiting component, and the attitude angle of the second limiting component.

[0042] In combination with the second aspect, in certain implementations of the second aspect, the supporting component includes a first connecting rod, a second connecting rod, a rotating component and a movable component, the first end of the first connecting rod is connected to the first end of the second connecting rod through the rotating component, the second end of the second connecting rod is connected to the movable component, the first connecting rod is located at the first end of the supporting component, and the movable component is located at the second end of the supporting component; the supporting component is connected to the energy transmitting coil through the second end of the first connecting rod; the supporting component is connected to the first plane through the movable component; adjusting the posture of the first end of the supporting component includes adjusting at least one of the following: the rotation angle of the rotating component, the position of the movable component.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the second connecting rod is a telescopic connecting rod, and adjusting the posture of the first end of the supporting component also includes: adjusting the axial length of the second connecting rod.

[0044] According to a third aspect, a control device for a power supply device is provided, wherein the power supply device includes an energy transmitting coil and a supporting component; wherein the energy transmitting coil is used to provide energy to a device to be charged; a first end of the supporting component is connected to the energy transmitting coil, and a second end of the supporting component is connected to a first plane, and the first plane includes the surface of the ground or a building in a first charging area; the device includes: an acquisition unit, for acquiring a first energy loss when the energy transmitting coil transmits energy in a first posture, the first energy loss being determined based on the energy transmitted by the energy transmitting coil in the first posture and the energy received by the device to be charged; and a processing unit, for adjusting the posture of the first end of the supporting component according to the first energy loss, so as to adjust the posture of the energy transmitting coil in the first charging area.

[0045] In combination with the third aspect, in certain implementations of the third aspect, the acquisition unit is further used to: obtain the magnetic field strength between the energy transmitting coil and the energy receiving coil of the device to be charged; the processing unit is used to: adjust the posture of the first end of the support component according to the first energy loss and the magnetic field strength.

[0046] In combination with the third aspect, in certain implementations of the third aspect, the processing unit is configured to: when the first energy loss is greater than or equal to a loss threshold, adjust the posture of the first end of the support component to adjust the energy transmitting coil from the first posture to a second posture, until the second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second posture is less than the loss threshold, and the magnetic field strength is within a set range.

[0047] In combination with the third aspect, in certain implementations of the third aspect, the support component includes a telescopic component, a first limiting component and a second limiting component, the first end of the telescopic component is connected to the first limiting component, the second end of the telescopic component is connected to the second limiting component, the first limiting component is located at the first end of the support component, and the second limiting component is located at the second end of the support component; the support component is connected to the energy transmitting coil through the first limiting component; the support component is connected to the first plane through the second limiting component; the processing unit is used to adjust at least one of the following: the axial length of the telescopic component, the attitude angle of the first limiting component, and the attitude angle of the second limiting component.

[0048] In combination with the third aspect, in certain implementations of the third aspect, the supporting component includes a first connecting rod, a second connecting rod, a rotating component and a movable component, the first end of the first connecting rod is connected to the first end of the second connecting rod through the rotating component, the second end of the second connecting rod is connected to the movable component, the first connecting rod is located at the first end of the supporting component, and the movable component is located at the second end of the supporting component; the supporting component is connected to the energy transmitting coil through the second end of the first connecting rod; the supporting component is connected to the first plane through the movable component; the processing unit is used to adjust at least one of the following: the rotation angle of the rotating component, the position of the movable component.

[0049] In combination with the third aspect, in certain implementations of the third aspect, the second connecting rod is a telescopic connecting rod, and the processing unit is further used to: adjust the axial length of the second connecting rod.

[0050] In a fourth aspect, a control device for a power supply device is provided, which includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device performs the method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0051] In a fifth aspect, a power supply system is provided, which includes a power supply device as in the first aspect or any possible implementation of the first aspect, or a control device as in the third aspect or any possible implementation of the third aspect.

[0052] In a sixth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the second aspect or any possible implementation of the second aspect.

[0053] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or separately from the processor.

[0054] In a seventh aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in the second aspect or any possible implementation of the second aspect.

[0055] In an eighth aspect, a chip is provided, which includes a circuit for executing the method in the above-mentioned second aspect or any possible implementation manner of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a schematic diagram of a charging scenario;

[0057] FIG2 is a schematic diagram of a power supply device provided in an embodiment of the present application;

[0058] FIG3 is another schematic diagram of a power supply device provided in an embodiment of the present application;

[0059] FIG4 is another schematic diagram of a power supply device provided in an embodiment of the present application;

[0060] FIG5 is another schematic diagram of a power supply device provided in an embodiment of the present application;

[0061] FIG6 is another schematic diagram of a power supply device provided in an embodiment of the present application;

[0062] FIG7 is another schematic diagram of a power supply device provided in an embodiment of the present application;

[0063] FIG8 is a schematic flowchart of a control method for a power supply device according to an embodiment of the present application;

[0064] FIG9 is a schematic diagram of the control logic of the power supply device provided in an embodiment of the present application;

[0065] FIG10 is a schematic block diagram of a control device of a power supply device provided in an embodiment of the present application;

[0066] FIG11 is another schematic block diagram of the control device of the power supply device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The technical solution in this application will be described below with reference to the accompanying drawings.

[0068] As mentioned above, when the power supply coil of the wireless charging system and the power receiving coil of the vehicle shift laterally in a direction perpendicular to the direction of the magnetic field between the two coils, the charging efficiency will be greatly reduced. In actual application scenarios, the power supply coil of the wireless charging system is usually set on the ground, as shown in position 1 in the charging area 3 in Figure 1. Alternatively, the power supply coil of some wireless charging systems may also be set on a wall or charging pile, as shown in position 2 in the charging area 3 in Figure 1. Regardless of the above position of the power supply coil, when the vehicle is parked in the charging area 3 and preparing to charge, it is impossible to quickly and accurately align its power receiving coil with the power supply coil of the wireless charging system.

[0069] In view of this, the embodiments of the present application provide a power supply device and a control method, a control device and a system for the power supply device, which can adjust the position of the power supply coil according to the energy loss during the wireless charging process to improve the alignment of the power supply coil and the power receiving coil in the direction perpendicular to the magnetic field between the two coils, thereby improving the charging efficiency, reducing the energy loss during the charging process, and improving the safety during the wireless charging process.

[0070] FIG2 shows a schematic diagram of the power supply device provided in the present application. As shown in FIG2 , the power supply device includes an energy transmitting coil 100, a support component 200, and a control component (not shown in the figure). The energy transmitting coil 100 is used to provide energy to the device to be charged; the support component 200 includes a first end and a second end, wherein the first end of the support component 200 is connected to the energy transmitting coil 100, and the second end of the support component 200 is connected to the first plane 300 of the first charging area. When the energy transmitting coil 100 transmits energy, the control component controls the position of the first end of the support component 200 according to the energy loss to adjust the position of the energy transmitting coil 100 in the first charging area. The energy loss is determined based on the energy transmitted by the energy transmitting coil 100 and the energy received by the device to be charged (such as a vehicle or an intelligent robot).

[0071] Exemplarily, the first plane 300 may be the ground, or may be the surface of a building, such as a wall or the surface of a charging pile; or, the first plane 300 may be the surface of other objects with supporting capabilities.

[0072] It should be noted that the connection between the support component 200 and the energy transmitting coil 100 can be a dynamic connection or a static connection. The energy transmitting coil 100 includes the above-mentioned power supply coil, and the device to be charged includes an energy receiving coil, which can include the above-mentioned power receiving coil.

[0073] In some possible implementations, when the energy transmitting coil 100 transmits energy in the first posture, the control component is used to: control the posture of the first end of the support component 200 based on the first energy loss and the magnetic field strength between the energy transmitting coil 100 and the energy receiving coil; wherein the first energy loss is determined based on the energy transmitted by the energy transmitting coil 100 in the first posture and the energy received by the device to be charged.

[0074] In some possible implementations, the control component is configured to: when the first energy loss is greater than or equal to a loss threshold, control the position of the first end of the support component 200 to adjust the energy transmitting coil from the first position to a second position, wherein the second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second position is less than the loss threshold, and the magnetic field strength is within a set range.

[0075] Exemplarily, the power supply device further includes a sensor, which is disposed on the energy transmitting coil 100 and is configured to detect the magnetic field strength between the energy transmitting coil 100 and the energy receiving coil of the device to be charged. The magnetic field strength between the energy transmitting coil 100 and the energy receiving coil can be obtained from the sensor. Alternatively, the magnetic field strength can also be detected by a sensor disposed on the energy receiving coil of the device to be charged.

[0076] Illustratively, the control component may include an electronic control unit (ECU), and the support component 200 may include one or more actuators. In one implementation, the control component is electrically connected to the actuators of the support component 200 and transmits control signals to the actuators of the support component 200 via electrical signals. In another implementation, the control component transmits control signals to the actuators of the support component 200 via a wireless communication network. When the actuators of the support component 200 execute the control signals, the position of the first end of the support component 200 is adjusted, thereby adjusting the position of the energy transmitting coil 100.

[0077] In addition, the control component can communicate with another device (such as a cloud server, a device to be charged, etc.) through a wired or wireless communication network.

[0078] Optionally, the support component 200 may be provided with one or more position sensors, which may feed back a position signal of the support component 200 to the control component to achieve accurate adjustment of the posture of the first end of the support component 200 .

[0079] 3 , the power supply device further comprises a fixed base 400 connected to the second end of the support component 200, and the second end of the support component 200 can be connected to the first plane 300 through the fixed base. In one implementation, the control component can be disposed in the fixed base.

[0080] In some possible implementations, the power supply device further includes a power supply component for providing current to the energy transmitting coil, the power supply component being disposed at the first end of the support member. Alternatively, the power supply component is disposed on the ground or in a charging station, and provides current to the energy transmitting coil via a wiring harness. In one example, the power supply device further includes a wiring harness management component for controlling the length of the wiring harness.

[0081] In some possible implementations, the support component 200 may include at least one telescopic component and at least two position-limiting components. For example, the support component 200 may include a telescopic component 210, a position-limiting component 220, and a position-limiting component 230. The telescopic component 210 includes a first end and a second end. The first end of the telescopic component 210 is connected to the position-limiting component 220, and the second end of the telescopic component 210 is connected to the position-limiting component 230. The position-limiting component 220 is located at the first end of the support component 200, and the position-limiting component 230 is located at the second end of the support component 200. The support component 200 is connected to the energy transmitting coil 100 via the position-limiting component 220, and the support component 200 is connected to the first plane 300 via the position-limiting component 230. The control component can adjust the position of the energy transmitting coil 100 by controlling the axial length of the telescopic component 210; the control component can realize multi-degree-of-freedom rotation of the energy transmitting coil 100, such as three-degree-of-freedom rotation, by controlling the attitude angle of the limiting component 220; the control component can realize multi-degree-of-freedom rotation of the telescopic component 210, such as three-degree-of-freedom rotation, by controlling the attitude angle of the limiting component 230, thereby adjusting the position and attitude of the energy transmitting coil 100.

[0082] In the embodiments of the present application, the attitude angle refers to the angle between the object coordinate system and the ground coordinate system (o-xyz). The attitude angle includes the pitch angle (pitch), roll angle (roll), and heading angle (yaw). The pitch angle is the angle between the x-axis of the object coordinate system and the xoy plane of the ground coordinate system. The roll angle is the angle between the y-axis of the object coordinate system and the xoy plane of the ground coordinate system. The heading angle is the angle between the projection of the x-axis of the object coordinate system on the xoy plane of the ground coordinate system and the y-axis of the ground coordinate system.

[0083] For example, the telescopic component 210 may be in the form of a telescopic structure as shown in FIG2 , such as a pneumatic telescopic rod, a telescopic screw, etc. Alternatively, the telescopic component 210 may be in the form of a planar four-bar structure as shown in FIG4 . The position-limiting components 220 or 230 may be implemented by a stepper motor, a servo motor, or other methods.

[0084] Optionally, the telescopic component 210, the limiting component 220, and the limiting component 230 are all provided with position sensors. In order to adjust the posture of the energy transmitting coil 100, the control component can adjust at least one of the following items according to the position signal fed back by the above-mentioned position sensor: the axial length of the telescopic component 210, the attitude angle of the limiting component 220, and the attitude angle of the limiting component 230.

[0085] In one example, telescopic component 210 is a pneumatic telescopic rod, limiting components 220 and 230 may include a stepper motor and a three-degree-of-freedom structure, and the control component is an ECU. The ECU controls the length of the pneumatic telescopic rod by controlling the intake and exhaust throttling of the pneumatic telescopic rod's cylinder. The ECU also controls the rotational direction and angle of the three-degree-of-freedom structure by sending control pulses and direction signals to the stepper motor.

[0086] In some possible implementations, the support component 200 may include at least two connecting rods, at least one rotating component, and at least one movable component. For example, as shown in FIG5 , the support component 200 may include a connecting rod 240, a connecting rod 250, a rotating component 260, and a movable component 270. The connecting rods 240 and 250 each include a first end and a second end. The first end of the connecting rod 240 is connected to the first end of the connecting rod 250 via the rotating component 260, and the second end of the connecting rod 250 is connected to the movable component 270. The connecting rod 240 is located at the first end of the support component 200, and the movable component 270 is located at the second end of the support component 200. The support component 200 is connected to the energy transmitting coil 100 via the second end of the connecting rod 240, and the support component 200 is connected to the first plane 300 via the movable component 270. By controlling the rotation angle of the rotating component 260, the control component can cause the connecting rod 240 to oscillate back and forth or rotate in a plane parallel to the first plane 300. The control component can control the translation of the first end of the supporting component 200 by controlling the position of the moving component 270 on the first plane 300 .

[0087] Optionally, both the rotating component 260 and the movable component 270 are provided with position sensors. In order to adjust the posture of the energy transmitting coil 100, the control component can adjust at least one of the following items according to the position signal fed back by the above position sensor: the rotation angle of the rotating component 260 and the position of the movable component 270.

[0088] For example, the rotating component 260 may be a bearing, or a cam structure, or other structures capable of controlling the reciprocating swing or circumferential rotation of the connecting rod 240 .

[0089] Exemplarily, the movable part 270 may be a cam structure; or, the movable part 270 may include a slider 271 and a slide rail 272. The arrangement of the slide rail 272 on the first plane 300 may be as shown in FIG6 . In a specific implementation, the slide rail 272 may also be a cross-shaped structure, or may be in other forms. FIG6 is merely an exemplary illustration. The embodiment of the present application does not specifically limit the specific form and length of the slide rail 272. In a specific implementation, the specific form and length of the slide rail 272 may be determined based on the length of the connecting rod 240 and the size of the charging area.

[0090] Optionally, as shown in FIG7 , the connecting rod 250 may also be a retractable connecting rod. The control component may adjust the distance between the energy transmitting coil 100 and the energy coil of the device to be charged in a direction parallel to the magnetic field between the two coils by controlling the length of the retractable connecting rod.

[0091] The structure of the power supply device provided in the present application is introduced above in conjunction with Figures 2 to 7. The specific process of the control method of the power supply device provided in the embodiment of the present application is described in detail below in conjunction with Figure 8.

[0092] The control method 800 shown in FIG8 can be applied to the power supply devices shown in FIG2 to FIG7. For example, the method 800 can be executed by a control component of the power supply device. The method 800 includes S801 and S802.

[0093] S801: When the energy transmitting coil transmits energy in a first posture, a first energy loss is obtained, where the first energy loss is determined based on energy transmitted by the energy transmitting coil in the first posture and energy received by the device to be charged.

[0094] For example, the energy transmitting coil may be the aforementioned energy transmitting coil 100. The device to be charged may be an electric vehicle, or may be another device to be charged.

[0095] It can be understood that the device to be charged receives energy transmitted by the power supply device through the energy receiving coil.

[0096] The energy transmitted by the energy transmitting coil can be determined based on the voltage U1 of the power supply component providing the current to the energy transmitting coil and the current I1 of the energy transmitting coil. The energy received by the device to be charged can be determined based on the charging current I2 and charging voltage U2 of the battery pack of the device to be charged.

[0097] For example, the first energy loss may be determined by a control component of the power supply device, or may be determined by a cloud server that communicates with both the power supply device and the device to be charged.

[0098] For example, the first energy loss may be power loss, or the first energy loss may be average power loss, or the first energy loss may be total power loss over a period of time. The following uses power loss as an example to illustrate a method for determining the first energy loss.

[0099] In one example, during the charging process, the device to be charged uploads the power data of its battery pack to the cloud server, and the cloud server calculates the average charging power P1 of the battery pack over a first period of time based on the power data. The power data includes at least one of the following: the charging current I2 and charging voltage U2 of the battery pack, the state of charge (SOC) of the battery pack, and the state of health (SOH) of the battery pack. The cloud server sends the charging power information to the control component of the power supply device. The control component calculates the average power supply power P2 of the power supply device over the first period of time based on the voltage U1 and current I1, and then calculates the difference between the average power supply power P2 and the average charging power P1, which is the power loss.

[0100] In another example, during charging, the power supply device uploads its supply voltage and current information to a cloud server. The cloud server calculates the supply power based on the supply voltage and current. Furthermore, the cloud server determines the power loss based on the difference between the supply power and the charging power of the battery pack of the device to be charged, and transmits the power loss information to the control component.

[0101] S802: Adjust the posture of the first end of the supporting component according to the first energy loss to adjust the posture of the energy transmitting coil in the first charging area.

[0102] For example, the supporting member may be the supporting member 200. The first charging area may be an area including the first plane 300.

[0103] In some possible implementations, adjusting the posture of the first end of the support component according to the first energy loss includes: adjusting the posture of the first end of the support component when the first energy loss is greater than or equal to a loss threshold.

[0104] In one example, the first energy loss may be power loss, and the loss threshold may be 15% of the power supply, or 20% of the power supply, or other values.

[0105] In another example, the first energy loss may be average power loss, for example, average power loss per minute, and the loss threshold may be 15% of the supplied power, or 20% of the supplied power, or other values.

[0106] In a specific implementation process, the above loss threshold can be determined according to the line loss of the power supply device and the line loss of the device to be charged.

[0107] In some possible implementations, the method further includes: obtaining the magnetic field strength of the magnetic field between the energy transmitting coil and the energy receiving coil of the device to be charged, and adjusting the posture of the first end of the supporting component according to the first energy loss and the magnetic field strength.

[0108] In some possible implementations, the method further includes: when the first energy loss is greater than or equal to a loss threshold, adjusting the position of the first end of the support component, adjusting the position of the energy transmitting coil in the first charging area to a second position, wherein the second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second position is less than the loss threshold, and the magnetic field strength is within a set range.

[0109] For example, based on the first energy loss and / or magnetic field strength, the first end of the support component is controlled to perform a zigzag motion in the area of ​​the energy receiving coil of the device to be charged, thereby determining the second position of the energy transmitting coil. The speed of the zigzag motion of the first end of the support component can be determined based on the operating speed of the algorithm of the control component. It should be noted that during the movement of the first end of the support component, the planes in which the energy transmitting coil and the energy receiving coil are located remain parallel.

[0110] Exemplarily, the control logic for controlling the support component based on the first energy loss and magnetic field strength can be shown in Figure 9. The control component includes a power loss regulator and a magnetic field strength regulator. The difference between the expected power loss and the actual power loss is input into the power loss regulator, which then determines the expected magnetic field strength based on the difference between the expected and actual power losses. The difference between the expected and actual magnetic field strengths is input into the magnetic field strength regulator, so that the magnetic field strength regulator determines a control variable for the support component based on the difference between the expected and actual magnetic field strengths. When the actuator of the support component executes the control variable, the position of the first end of the support component is controlled. Exemplarily, the expected power loss can be the loss threshold, the actual energy loss can be the first energy loss, and the expected magnetic field strength can be within the set range. The table consulted by the power loss regulator can be a table that represents the relationship between the difference between the expected and actual power losses and the expected magnetic field strength. Exemplarily, the specific value of the expected magnetic field strength in the table can be determined based on the number of turns of the energy transmitting / receiving coil, the charging current, and the effective magnetic path length of the energy transmitting / receiving coil. It can be understood that the above-mentioned magnetic field strength is the strength of the superposition of the original magnetic field of the energy transmitting coil and the induced magnetic field generated by the energy receiving coil. Since the strength of the induced magnetic field generated by the energy receiving coil of the device to be charged increases with the improvement of the alignment between the energy transmitting coil and the energy receiving coil, the above-mentioned magnetic field strength increases with the improvement of the alignment between the energy transmitting coil and the energy receiving coil.

[0111] In some possible implementations, when method 800 is applied to any power supply device shown in Figures 2 to 4, adjusting the posture of the first end of the support component includes adjusting at least one of the following: the axial length of the telescopic component 210, the posture angle of the limiting component 220, and the posture angle of the limiting component 230.

[0112] For example, the control component determines the position of the first end of the supporting component at the next moment, such as position 1, based on the first energy loss and / or magnetic field strength, and generates a control amount for at least one of the telescopic component 210, the limiting component 220, and the limiting component 230 based on position 1 and the current position of the supporting component, and sends the control amount to the supporting component. When the supporting component executes the above control amount, the adjustment of the relevant components in the supporting component can be realized, thereby making the position of the first end of the supporting component at the next moment become position 1.

[0113] In some possible implementations, when method 800 is applied to any power supply device shown in Figures 5 to 7, adjusting the posture of the first end of the supporting component includes adjusting at least one of the following: the rotation angle of the rotating component 260, the position of the moving component 270.

[0114] For example, the control component determines the position of the first end of the supporting component at the next moment, such as position 2, based on the first energy loss and / or magnetic field strength, generates a control amount for the rotating component 260 and / or the moving component 270 based on position 2 and the current position of the supporting component, and sends the control amount to the supporting component. When the supporting component executes the above control amount, the adjustment of the relevant components in the supporting component can be realized, thereby making the position of the first end of the supporting component at the next moment become position 2.

[0115] In some possible implementations, when the connecting rod 250 of the power supply device shown in Figures 5 to 7 is a telescopic connecting rod, adjusting the posture of the first end of the supporting component also includes: adjusting the axial length of the connecting rod 250.

[0116] In some possible implementations, the method further includes: obtaining position information of the energy receiving coil of the device to be charged, and adjusting the posture of the first end of the support component according to the position information and the first energy loss. In one example, the position information indicates the approximate position of the energy receiving coil in the device to be charged. For example, taking the device to be charged as a vehicle as an example, the position information may indicate that the energy receiving coil is located on the chassis or the rear of the vehicle. In another example, the position information indicates the precise position of the energy receiving coil in the device to be charged. For example, taking the device to be charged as a vehicle as an example, the position information may indicate the coordinates of the energy receiving coil in the vehicle coordinate system.

[0117] The control method for the power supply device provided in the embodiment of the present application can adjust the position and posture of the energy transmitting coil of the power supply device according to the energy loss during the charging process. This not only improves the mutual induction system between the energy transmitting coil and the energy receiving coil, thereby reducing the energy loss during the charging process, thereby improving charging efficiency and reducing safety hazards, but also reduces the complexity of aligning the charging position of the device to be charged (such as a vehicle). In addition, adjusting the position and posture of the energy transmitting coil according to energy loss not only ensures that the energy loss during the charging process does not change suddenly, but also helps to adapt to devices to be charged of different models and different parking positions.

[0118] It should be noted that those skilled in the art can improve the supporting components of the power supply device based on the above embodiments, such as adding more components or structures to achieve more functions. For example, when the power supply device is installed on the ground, it is still possible to achieve alignment between the energy transmitting coil and the energy receiving coil provided at the tail of the device to be charged (such as a vehicle), or when the power supply device is installed on a wall or the surface of a charging pile, it is still possible to achieve alignment between the energy transmitting coil and the energy receiving coil provided on the chassis of the device to be charged (such as a vehicle). The above implementation methods should also fall within the scope of protection of this application.

[0119] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0120] The power supply device and control method thereof provided in the embodiments of the present application are described in detail above in conjunction with Figures 2 to 9. The control device of the power supply device provided in the embodiments of the present application will be described in detail below in conjunction with Figures 10 and 11. It should be understood that the description of the control device embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, please refer to the method embodiment above. For the sake of brevity, they will not be repeated here.

[0121] Figure 10 shows a schematic block diagram of a control device 1000 for a power supply device according to an embodiment of the present application. The device 1000 may include units for executing the method in Figure 8. Furthermore, each unit in the device 1000 is for implementing a corresponding process of the method embodiment in Figure 8.

[0122] Exemplarily, the device 1000 is applied to a power supply device, which includes an energy transmitting coil and a supporting component; wherein the energy transmitting coil is used to provide energy to the device to be charged; the first end of the supporting component is connected to the energy transmitting coil, and the second end of the supporting component is connected to the first plane, and the first plane includes the surface of the ground or building in the first charging area; the device 1000 includes: an acquisition unit 1010, which is used to obtain a first energy loss when the energy transmitting coil transmits energy in the first posture, and the first energy loss is determined based on the energy transmitted by the energy transmitting coil in the first posture and the energy received by the device to be charged; a processing unit 1020, which is used to adjust the posture of the first end of the supporting component according to the first energy loss to adjust the posture of the energy transmitting coil in the first charging area.

[0123] Optionally, the acquisition unit 1010 is further used to: acquire the magnetic field strength between the energy transmitting coil and the energy receiving coil of the device to be charged; the processing unit 1020 is used to: adjust the posture of the first end of the supporting component according to the first energy loss and the magnetic field strength.

[0124] Optionally, the processing unit 1020 is used to: when the first energy loss is greater than or equal to a loss threshold, adjust the posture of the first end of the supporting component, and adjust the posture of the energy transmitting coil in the first charging area to a second posture, until the second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second posture is less than the loss threshold, and the magnetic field strength is within a set range.

[0125] Optionally, the supporting component includes a telescopic component, a first limiting component and a second limiting component, the first end of the telescopic component is connected to the first limiting component, the second end of the telescopic component is connected to the second limiting component, the first limiting component is located at the first end of the supporting component, and the second limiting component is located at the second end of the supporting component; the supporting component is connected to the energy transmitting coil through the first limiting component; the supporting component is connected to the first plane through the second limiting component; the processing unit 1020 is used to adjust at least one of the following: the axial length of the telescopic component, the attitude angle of the first limiting component, and the attitude angle of the second limiting component.

[0126] Illustratively, the telescopic component includes the telescopic component 210 in the above embodiment, the first position-limiting component includes the position-limiting component 220 in the above embodiment, and the second position-limiting component includes the position-limiting component 230 in the above embodiment.

[0127] Optionally, the supporting component includes a first connecting rod, a second connecting rod, a rotating component and a movable component, the first end of the first connecting rod is connected to the first end of the second connecting rod through the rotating component, the second end of the second connecting rod is connected to the movable component, the first connecting rod is located at the first end of the supporting component, and the movable component is located at the second end of the supporting component; the supporting component is connected to the energy transmitting coil through the second end of the first connecting rod; the supporting component is connected to the first plane through the movable component; the processing unit 1020 is used to adjust at least one of the following: the rotation angle of the rotating component, the position of the movable component.

[0128] Illustratively, the first connecting rod includes the connecting rod 240 in the above embodiment, the second connecting rod includes the connecting rod 250 in the above embodiment, the rotating component includes the rotating component 260 in the above embodiment, and the moving component includes the moving component 270 in the above embodiment.

[0129] Optionally, the second connecting rod is a telescopic connecting rod, and the processing unit 1020 is further used to adjust the axial length of the second connecting rod.

[0130] For example, the device 1000 can be provided in the control component of a power supply device. The operations performed by the acquisition unit 1010 and the processing unit 1020 can be performed by a single processor, or by different processors. In a specific implementation, the one or more processors can be provided in the power supply device; alternatively, the device 1000 can be provided in the control component of the power supply device.

[0131] In an embodiment of the present application, a processor is a circuit having a signal processing capability. In one implementation, the processor may be a circuit having the capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0132] In a specific implementation process, the various units in the above apparatus may be fully or partially integrated together, or may also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0133] Figure 11 is a schematic block diagram of a control device of a power supply device provided in an embodiment of the present application. The control device 1100 of the power supply device shown in Figure 11 may include: a processor 1110, a transceiver 1120, and a memory 1130. Among them, the processor 1110, the transceiver 1120, and the memory 1130 are connected through an internal connection path, the memory 1130 is used to store instructions, and the processor 1110 is used to execute the instructions stored in the memory 1130 to implement the methods in the above-mentioned embodiments. Optionally, the memory 1130 can be coupled to the processor 1110 through an interface, or can be integrated with the processor 1110.

[0134] It should be noted that the transceiver 1120 may include but is not limited to a transceiver device such as an input / output interface to implement communication between the apparatus 1100 and other devices or a communication network.

[0135] The memory 1130 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0136] The transceiver 1120 uses a transceiver device such as but not limited to a transceiver to implement communication between the apparatus 1100 and other devices or a communication network, so as to receive / send data / information used to implement the methods in the above embodiments.

[0137] An embodiment of the present application further provides a power supply system, which includes the power supply device in the above embodiment; or, the system includes the control device 1000 or the control device 1100 of the above power supply device.

[0138] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0139] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0140] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0141] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0142] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0143] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0145] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0146] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0147] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0148] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A power supply device, characterized in that: It includes an energy transmitting coil, a supporting component and a control component; wherein, The energy transmitting coil is used to provide energy to the device to be charged; The first end of the support component is connected to the energy transmitting coil, and the second end of the support component is connected to a first plane, wherein the first plane includes the ground or the surface of a building in a first charging area; When the energy transmitting coil transmits energy in the first posture, the control component adjusts the posture of the first end of the supporting component according to a first energy loss to adjust the posture of the energy transmitting coil in the first charging area, wherein the first energy loss is determined according to the energy transmitted by the energy transmitting coil in the first posture and the energy received by the device to be charged.

2. The device according to claim 1, characterized in that The device further comprises a sensor, which is arranged on the energy transmitting coil and is used to detect the magnetic field strength between the energy transmitting coil and the energy receiving coil of the device to be charged; The control component is used to adjust the posture of the first end of the supporting component according to the first energy loss and the magnetic field strength.

3. The device according to claim 2, characterized in that The control component is used to: When the first energy loss is greater than or equal to a loss threshold, the posture of the first end of the supporting component is adjusted to adjust the energy transmitting coil from the first posture to a second posture, and a second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second posture is less than the loss threshold and the magnetic field strength is within a set range.

4. The device according to any one of claims 1 to 3, characterized in that The supporting component comprises a telescopic component, a first limiting component and a second limiting component, wherein the first end of the telescopic component is connected to the first limiting component, the second end of the telescopic component is connected to the second limiting component, the first limiting component is located at the first end of the supporting component, and the second limiting component is located at the second end of the supporting component; The first end of the supporting component is connected to the energy transmitting coil, comprising: the supporting component is connected to the energy transmitting coil through the first limiting component; The second end of the supporting component is connected to the first plane, comprising: the supporting component is connected to the first plane through the second limiting component.

5. The device according to claim 4, characterized in that The control component adjusts the posture of the first end of the support component according to the first energy loss, including adjusting at least one of the following: The axial length of the telescopic component, the posture angle of the first limiting component, and the posture angle of the second limiting component.

6. The device according to any one of claims 1 to 3, characterized in that The supporting component comprises a first connecting rod, a second connecting rod, a rotating component and a moving component, wherein the first end of the first connecting rod is connected to the first end of the second connecting rod through the rotating component, the second end of the second connecting rod is connected to the moving component, the first connecting rod is located at the first end of the supporting component, and the moving component is located at the second end of the supporting component; The first end of the support component is connected to the energy transmitting coil, comprising: the support component is connected to the energy transmitting coil through the second end of the first connecting rod; The second end of the supporting component is connected to the first plane, comprising: the supporting component is connected to the first plane through the moving component; The rotating component controls the first connecting rod to rotate in a plane parallel to the first plane, and the moving component controls the second end of the second connecting rod to move in the first plane.

7. The device according to claim 6, characterized in that The control component adjusts the posture of the first end of the support component according to the first energy loss, including adjusting at least one of the following: The angle of rotation of the rotating component and the position of the moving component.

8. The device according to claim 6 or 7, characterized in that The second connecting rod is a telescopic connecting rod.

9. The device according to any one of claims 1 to 8, characterized in that The device further comprises a first power supply component, which is disposed at a first end of the supporting component and is used for providing current to the energy transmitting coil.

10. The device according to any one of claims 1 to 8, characterized in that The device also includes a second power supply component, a wiring harness and a wiring harness management component. The second power supply component is arranged on the ground or in a charging pile. The second power supply component provides current to the energy transmitting coil through the wiring harness. The wiring harness management component is used to control the length of the wiring harness.

11. A control method for a power supply device, characterized in that: The power supply device comprises an energy transmitting coil and a supporting component; wherein, The energy transmitting coil is used to provide energy to the device to be charged; The first end of the support component is connected to the energy transmitting coil, and the second end of the support component is connected to a first plane, wherein the first plane includes the ground or the surface of a building in a first charging area; The method comprises: When the energy transmitting coil transmits energy in the first posture, obtaining a first energy loss, wherein the first energy loss is determined according to the energy transmitted by the energy transmitting coil in the first posture and the energy received by the device to be charged; According to the first energy loss, the posture of the first end of the supporting component is adjusted to adjust the posture of the energy transmitting coil in the first charging area.

12. The method according to claim 11, characterized in that The method further comprises: Acquiring the magnetic field strength between the energy transmitting coil and the energy receiving coil of the device to be charged; The adjusting the posture of the first end of the supporting component according to the first energy loss includes: The posture of the first end of the supporting component is adjusted according to the first energy loss and the magnetic field strength.

13. The method according to claim 12, characterized in that The adjusting the posture of the first end of the supporting component according to the first energy loss and the magnetic field strength includes: When the first energy loss is greater than or equal to a loss threshold, the posture of the first end of the supporting component is adjusted to adjust the energy transmitting coil from the first posture to a second posture, and a second energy loss of the energy transmitting coil when providing energy to the device to be charged in the second posture is less than the loss threshold and the magnetic field strength is within a set range.

14. The method according to any one of claims 11 to 13, characterized in that The support component includes a telescopic component, a first limiting component and a second limiting component, the first end of the telescopic component is connected to the first limiting component, the second end of the telescopic component is connected to the second limiting component, the first limiting component is located at the first end of the support component, and the second limiting component is located at the second end of the support component; the support component is connected to the energy transmitting coil through the first limiting component; the support component is connected to the first plane through the second limiting component; The adjusting the posture of the first end of the supporting component includes adjusting at least one of the following: The axial length of the telescopic component, the posture angle of the first limiting component, and the posture angle of the second limiting component.

15. The method according to any one of claims 11 to 13, characterized in that The supporting component comprises a first connecting rod, a second connecting rod, a rotating component and a moving component, wherein the first end of the first connecting rod is connected to the first end of the second connecting rod through the rotating component, the second end of the second connecting rod is connected to the moving component, the first connecting rod is located at the first end of the supporting component, and the moving component is located at the second end of the supporting component; The supporting component is connected to the energy transmitting coil via the second end of the first connecting rod; The supporting member is connected to the first plane via the moving member; The adjusting the posture of the first end of the supporting component includes adjusting at least one of the following: The angle of rotation of the rotating component and the position of the moving component.

16. The method according to claim 15, characterized in that The second connecting rod is a telescopic connecting rod, and the method for adjusting the posture of the first end of the supporting component further includes: Adjust the axial length of the second connecting rod.

17. A control device for a power supply device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute a computer program stored in the memory so that the control device executes the method according to any one of claims 11 to 16.

18. A power supply system, characterized in that: The system includes the power supply device as described in any one of 1 to 10, or the system includes the control device as described in claim 17.

19. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 11 to 16.

20. A chip, characterized in that: The chip comprises a circuit for performing the method according to any one of claims 11 to 16.

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