Gross misalignment tolerant capacitive coupling plates for in-motion wireless charging

Abstract

A gross misalignment tolerant capacitive in motion wireless power transfer system for an in motion vehicle includes two pairs of capacitively coupled conductive plates, of which, at least one pair includes a ground-side conducting plate, and a mobile-side conducting plate, disposed so that the mobile-side and ground-side conducting plates conductively couple with each other with the mobile-side and ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between the capacitively coupled conductive plates, wherein each of the ground-side and mobile-side conducting plates has a respective form factor described by conducting plate size and shape, and wherein at least one of the respective form factor of the mobile-side and ground-side conducting plates is different than another of the respective form factor of an opposing coupled conductive plate, the at least one respective form factor and the other respective form factor are characterized so that disposition of the coupled conducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates.

Description

GROSS MISALIGNMENT TOLERANT CAPACITIVE COUPLING PLATES FOR INMOTION WIRELESS CHARGINGCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application is non-provisional of and claims priority from and the benefit of United States Provisional Patent Application No. 63 / 620,685 filed on January 12, 2024 and United States Provisional Patent Application No. 63 / 572,221 filed on March 30, 2024, the disclosures of which are incorporated by reference herein in their entireties.BACKGROUND1. Field

[0002] The present disclosure generally relates to in-motion wireless charging2. Brief Description of Related Developments

[0003] Wireless charging is an effective approach for charging electric vehicles (EV), offering the convenience of autonomous charging, eliminating expensive and wear-prone cables and connectors, and can help accelerate the transition to fully electrified transportation. Wireless charging for EVs has been achieved previously in prior art using inductively coupled coils or capacitively coupled plates. Inductive wireless charging systems transmit power through the air via the magnetic field with magnetic coupling coils, while capacitive wireless charging systems transmit power through the air with simple and affordable metal conducting plates. Conventionally, both inductive and capacitive charging methods have poor misalignment tolerances and thus, tight alignment restrictions between the wireless charging transmitter and receiver for high performance (high power transfer and high efficiency). Due to this poor misalignment tolerance, many expensive wireless charging transmitters are installed back-to-back in order to achieve in-motion wireless charging; but has reduced performance (see. Fig. 5). It is desired to have a coupler design that has increased misalignment tolerances, which enables high- performance in-motion wireless charging with a greatly reduced number of transmitters, which are spaced apart.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The foregoing aspects and other features of the present disclosure are explained in the following description, taken in connection with the accompanying drawings, wherein:

[0005] FIG. 1 is an exemplary illustration of a conventional non-misalignment tolerant capacitive wireless power transfer system without in-motion capability in accordance with the present disclosure;

[0006] FIG. 2 is an exemplary circuit representation of the conventional system of Fig. 1 in accordance with the present disclosure;

[0007] FIG. 3 is an exemplary illustration of a conventional split-inductor circuit design in accordance with the present disclosure;

[0008] FIG. 4 is an exemplary illustration of a conventional in-motion wireless charging system in accordance with the present disclosure;

[0009] FIG. 5 is an exemplary illustration of a gross misalignment tolerant capacitive in-motion wireless power transfer system in accordance with the present disclosure;

[0010] FIG. 6 is an exemplary illustration of a portion of the system of Fig. 6 showing the front- to-back gross misalignment possible in accordance with the present disclosure;

[0011] FIG. 7 is an exemplary illustration of a portion of the system of Fig. 6 showing an overhead view of possible gross front-to-back, side-to-side, and rotational misalignments in accordance with the present disclosure;

[0012] FIG. 8 is an exemplary illustration of a portion of the system of Fig. 6 in accordance with the present disclosure;

[0013] FIG. 9 is an exemplary illustration of a portion of the system of Fig. 6 in accordance with the present disclosure;

[0014] FIG. 10 is an exemplary illustration of a portion of the system of Fig. 6 in accordance with the present disclosure;

[0015] FIG. 11 is an exemplary illustration of an alternate configuration to Fig. 6, with the transmitter and receiver plates of Fig. 6 swapped in accordance with the present disclosure;

[0016] FIG. 12 is an exemplary illustration of an in motion wireless charging pose feedback and control system in accordance with the present disclosure;

[0017] FIG. 13 is an exemplary illustration of a portion of the system of Fig. 12 showing acceptable misalignments in accordance with the present disclosure;

[0018] FIG. 14 is an exemplary illustration of a portion of the system of Fig. 12 showing unacceptable misalignments in accordance with the present disclosure;

[0019] FIG. 15 is an exemplary illustration of a portion of the system of Fig. 12 in accordance with the present disclosure;

[0020] FIG. 16 is an exemplary block diagram for controllers implementing the system of Fig. 12 in accordance with the present disclosure;

[0021] FIG. 17 is an exemplary block diagram for controllers implementing the system of Fig. 12 in accordance with the present disclosure;

[0022] FIG. 18 is an exemplary illustration of an X-Y in motion wireless charging system in accordance with the present disclosure;

[0023] FIG. 19 is an exemplary illustration of a portion of the system of Fig. 18 in accordance with the present disclosure;

[0024] FIG. 20 is an exemplary illustration of a portion of the system of Fig. 18 in accordance with the present disclosure;

[0025] FIG. 21 is an exemplary illustration of a portion of the system of Fig. 18 in accordance with the present disclosure;

[0026] FIG. 22 is an exemplary illustration of a portion of the system of Fig. 18 in accordance with the present disclosure;

[0027] FIG. 23 is an exemplary illustration of a portion of the system of Fig. 18 in accordance with the present disclosure;

[0028] FIG. 24 is an exemplary illustration of a portion of the system of Fig. 18 in accordance with the present disclosure;

[0029] FIG. 25 is an exemplary illustration of a portion of the system of Fig. 18 with pose feedback and control system in accordance with the present disclosure;

[0030] FIG. 26 is an exemplary illustration of an alternative system of Fig. 18 with pose feedback and control system in accordance with the present disclosure; and

[0031] FIG. 27 is an exemplary illustration of a method for in motion wireless power transfer for an in motion vehicle in accordance with the present disclosure.DETAILED DESCRIPTION

[0032] The following detailed description is meant to assist the understanding of one skilled in the art, and is not intended in any way to unduly limit claims connected or related to the present disclosure.

[0033] The following detailed description references various figures, where like reference numbers refer to like components and features across various figures, whether specific figures are referenced, or not.

[0034] The word “each” as used herein refers to a single object (i.e., the object) in the case of a single object or each object in the case of multiple objects. The words “a,” “an,” and “the” as used herein are inclusive of “at least one” and “one or more” so as not to limit the noun being referred to as being in its “singular” form.

[0035] Referring to Fig. 6, a gross (i.e., greater >50%) misalignment tolerant capacitive in-motion wireless power transfer system 100 is illustrated. The system 100 includes two pairs 110A, HOB of conducting couplers 115A, 115B, 120A, 120B configured for enabling gross misalignment tolerances and high-performance in-motion wireless charging. As will be described herein, the system 100 utilizes an increase in form factor (i.e., size and shape) of a respective conducting coupler 115A, 115B, 120 A, 120B of the capacitive wireless power transfer system 100 in order to provide for capacitance / inductance between the conducting couplers 115A, 115B, 120A, 120B of, e.g., a vehicle chassis 900 and ground 999 to remain unchanged (i.e., the capacitance / inductance remains unchanged even as the vehicle moves over ground-side conducting couplers 120A, 120B laterally misaligned and / or rotated a predetermined distance / angle. It is noted that although the description henceforth will be described with respect to capacitance conducting plates, the same method of increase in form factor of a respective coupler can be applied to an inductive wireless charging system, where the conducting couplers are magnetic coils. This configuration would significantly reduce the number of ground-side conducting plates (transmitters) utilized for a given area on the ground 999, effecting high-speed and high-performance in-motion wireless charging while simultaneously being cost-effective. This would give a substantially 100% left misalignment tolerance 800, 100% right misalignment tolerance 801, and a -45° rotational misalignment tolerance 802, 803 (see, Fig. 7).

[0036] Referring to Fig. 5, as noted above, the system 100 includes at least two pairs 110A, HOB of coupled conductive plates 115A, 115B, 120A, 120B. A first conductive plate pair 110A includes a first ground-side conducting plate 120A, and a first mobile, or vehicle, side conductive plate 115A. The first ground-side conducting plate 120A and first mobile-side conductive plate 115A are disposed so that the first mobile-side conductive plate 115A and first ground-side conducting plate 120A are conductively coupled with each other with the first mobile-side conductive plate 115A and first ground-side conducting plate 120A in motion relative to each other so as to effect wireless power transfer between the first mobile-side conductive plate 115A and first ground-side conducting plate 120A. The first ground-side conducting plate 120A has a first form factor 125B and the first mobile-side conducting plate 115A has a second form factor 125 A (Fig. 5). The first form factor 125B is described by the size and shape of the first ground-side conducting plate 120A, and the second form factor 125A is described by size and shape of the first mobile-side conductingplate 115A. The first form factor 125B is different than the second form factor 125 A and are characterized so that disposition of the first mobile-side conductive plate 115A and first groundside conducting plate 120A opposing each other provide substantially full power transfer at substantially full efficiency (i.e., rated power) with a greater than 50% misalignment tolerance between the coupled conducting plates. For example, in one aspect, the second form factor (i.e. size and shape) 125 A of the first mobile-side conducting plate 115A is larger than the first form factor (i.e., size a shape) 125B of the first ground-side conducting plate 120A and provides that the first ground-side conducting plate 120A is fully covered by the first mobile-side conducting plate 115A throughout a full range of relative motion between the coupled conducting plates the greater than 50% misalignment tolerance (e.g., a 240-cm long vehicle (e.g., a forklift) has a mobile- side conducting plate with a form factor of ~200-cm x 40-cm with a corresponding ~20-cm diameter (circular, square, or any shape) ground-side conducting plate, where the mobile-side conducting plate fully covers the ground-side conducting plate substantially 100% sideways (left / right) and a ^45° rotational misalignment tolerance).

[0037] A second conductive plate pair HOB includes a second ground-side conducting plate 120B, and a second mobile-side conductive plate 115B. The second ground-side conducting plate 120B and second mobile-side conductive plate 115B are disposed so that the second mobile-side conductive plate 115B and second ground-side conducting plate 120B are conductively coupled with each other with the second mobile-side conductive plate 115B and second ground-side conducting plate 120B in motion relative to each other so as to effect wireless power transfer between the second mobile-side conductive plate 115B and second ground-side conducting plate 120B. The second ground-side conducting plate 120B has a first form factor 126B and the second mobile-side conducting plate 115B has a second form factor 126A. The first form factor 126B is described by the size and shape of the second ground-side conducting plate 120B, and the second form factor 126A is described by size and shape of the second mobile-side conducting plate 115B. The first form factor 126B is different than the second form factor 126A and are characterized so that disposition of the second mobile-side conductive plate 115B and second ground-side conducting plate 120B opposing each other provide substantially full power transfer at substantially full efficiency (i.e., rated power) with a greater than 50% misalignment tolerance between the coupled conducting plates. For example, in one aspect, the second form factor (i.e.size and shape) 126A of the second mobile-side conducting plate 115B is larger than the first form factor (i.e., size a shape) 126B of the second ground-side conducting plate 120B and provides that the second ground-side conducting plate 120B is fully covered by the first mobile-side conducting plate 115B throughout a full range of relative motion between the coupled conducting plates the greater than 50% misalignment tolerance (e.g., a 240-cm long vehicle (e.g., a forklift) has a mobile- side conducting plate with a form factor of ~200-cm x 40-cm with a corresponding ~20-cm diameter (circular, square, or any shape) ground-side conducting plate, where the mobile-side conducting plate fully covers the ground-side conducting plate substantially 100% sideways (left / right) and a ^45° rotational misalignment tolerance).

[0038] In one aspect, the first pair 110A of coupled conductive plates 115A, 120A in the capacitive wireless charging system 100 are defined by a metal plates, e.g., under the vehicle 900, and a metal plate, e.g., in the ground 999 (road, floor, etc.) or any other suitable location (e.g., walls, ceiling, platforms, etc.). The opposing coupled conductive plates 115A, 120A form coupling capacitances Cplate between them, as illustrated in FIG. 6. Here, the receiving conducting plates 115A are disposed, e.g., under the vehicle 900 and the transmitting conducting plates are disposed, e.g., on the ground 999. (it is noted that the receiving and transmitting plate locations correspond, for example, where transmitting plates are disposed on the floor, receiving plates are disposed under the vehicle; where transmitting plates are disposed on the ceiling, receiving plates are disposed on the roof of the vehicle and vice versa)..

[0039] The above detailed coupling plate design improves misalignment tolerance and increases the energy transferred over one vehicle pass compared to conventional wireless charging systems by adjusting the form factors 125A, 125B, 126A, 126B (e.g., widening the width of the mobile- side conducting plates 115A, 115B compared to the ground-side conducting plates 120A, 120B, and extending the length of mobile-side conducting plates 115A, 115B nearly across the entire length of the vehicle chassis, as illustrated in FIG. 5 or widening the width of the ground-side conducting plates 120A, 120B compared to the mobile-side conducting plates 115A, 115B, and extending the length of ground-side conducting plates 120A, 120B, as illustrated in FIG. 11). Compared to a conventional system with equal-sized conducting plates on the vehicle and groundsides, the coupler structure for, e.g., a 240-cm long vehicle (e.g., a forklift) using 200-cm x 40-cm mobile-side conducting plates 115A, 115B with corresponding 20-cm diameter circular (or squareor similar shape) ground-side conducting plates 120A, 120B can enable over a 2000% increase in the effective surface area over which full power transfer at full efficiency can occur. This translates to a 1000% forward / reverse misalignment tolerance, and hence, a 10-fold increase in single-pass energy transfer, and work on a vehicle 900 moving at any speed. This would significantly reduce the number of ground-side conducting plates 120A, 120B (transmitters) for a given area on the ground 999 for in-motion wireless charging, as illustrated in FIG. 6, making it ideal high-speed and high-performance in-motion wireless charging while simultaneously being cost-effective. The differences in the form factorsl25A, 125B, 126A, 126B between the mobile-side conducting plates 115A, 115B and ground-side conducting plates 120A, 120B also ensures that full power transfer at full efficiency occurs with the mobile-side conducting plates 115A, 115B and ground-side conducting plates 120A, 120B being misaligned (substantially 100% sideways (left / right) and / or rotated by up to -45°, as visualized by the four possible misalignments 800-803 in FIG. 7. This is because the capacitances between the conducting platesl 15A, 115B 120A, 120B, vehicle chassis 900 and ground 999 remain virtually unchanged as long as, e.g., the mobile-side conducting plates 115A, 115B fully cover the ground-side conducting plates 120A, 120B or vice versa. As long as the mobile-side conducting plates 115A, 115B fully cover the ground-side conducting plates 120A,^4120B, the parallel -pl ate capacitance formula C = E - can be applied, where C is the capacitance, E is the permittivity of free space, A is the surface area of the smaller plate, and d is the airgap distance between the plates. A three-dimensional E-field simulation is illustrated to verify the minimal change in capacitance between the enlarged plate and smaller plate with a 3 -cm airgap, and illustrated in FIGS. 8, 9 and 10. In FIG. 8, the plates are centered and have a capacitance of, e.g., about 18.26 pF. In FIG. 9, the plates are off-center with the side edges aligned and has a capacitance of e.g., about 18.05 pF. In FIG. 10, the plates are fully misaligned (with the mobile- side conducting plates 115A still completely covering the ground-side conducting plates 120A) and has a capacitance of, e.g., about 17.78 pF, a mere 2.6% change from the center-aligned plates of FIG. 8. This small 2.6% change will have a negligible effect on system performance so that substantially full rated power is transferred.

[0040] It is noted that many parasitic capacitances are present and of the same order of magnitude of Cplate between the conducting plates and the vehicle 900 chassis and ground 999, as illustrated in FIG. 3. A simplified equivalent circuit representation enabled by a split-inductor design (priorart) is illustrated in FIG. 3. In the circuit of FIG. 3, the matching network capacitances are entirely realized using the effective capacitance Cpl and Cp2 coming from the parasitic capacitances of the coupler, hence reducing circuit cost while increasing reliability by eliminating the need for high- voltage capacitors.

[0041] Referring now to Figs. 12-17, in one aspect, the gross misalignment tolerant capacitive inmotion wireless power transfer system 100 further includes an in motion wireless charging pose feedback and control system 1300. The in motion wireless charging pose feedback and control system 1300 is a system that provides sensing, communication, and control (SCC). The groundside conducting plates (transmitter) 120A, 120B need to sense approach of a vehicle 900 and determine whether the mobile-side conducting plates 115A, 115B are fully covering the groundside conducting plates 120A, 120B. The in motion wireless charging pose feedback and control system 1300 utilizes a modulated beam of light projected by the vehicle 900 onto the ground, and EM radiation sensors 1301-1304 (see, Fig. 12) located a predetermined distance from the groundside conducting plates 120A, 120B.

[0042] For example, in motion wireless charging pose feedback and control system 1300 includes an electromagnetic (EM) radiation source 1310 (Fig. 15) connected to the mobile-side conducting plates 115A, 115B and configured to generate a beam 1311 of EM radiation. EM radiation sensors 1301-1304 are connected to the ground-side conducting plates 120A, 120B and configured to sense the beam from the EM radiation source 1310 irradiating the sensor and sends a beam detection signal corresponding to the EM radiation sensors 1301-1304. A controller 1399 is communicably connected to the EM radiation sensors 1301-1304 to receive a beam detection signal, and operably connected to the ground-side conducting plates 120A, 120B in order to switch a state of the ground-side conducting plate 120 A, 120B from de-energized to energized. Switching the state of the ground-side conducting plates 120A, 120B from de-energized to energized powers the groundside conducting plates 120 A, 120B, in response to receiving a beam detection signal from each EM radiation sensors 1301-1304 so that the ground-side conducting plates 120A, 120B is powered substantially coincident with receipt of the beam detection signal. The EM radiation source 1310 is configured so that the beam 1311 is sized and shaped to substantially conform with at least an aspect of the form factor 125A, 125B, 126A, 126B of the conducting plates 115A, 115B, 120A, 120B. The EM radiation sensors 1301-1304 form a gate arranged so that in cooperation with thebeam 1311, the gate describes a maximum misalignment tolerance between the mobile-side conducting plates 115A, 115B and the ground-side conducting plates 120A, 120B.

[0043] As illustrated in Fig. 12, in one aspect, the ground-side conducting plates 120A, 120B are configured to “turn on” or energize when the two sensors 1301, 1302 receive or detect the beam 1311. As illustrated in Fig. 14, where the misalignment 1501, 1502, 1503, 1504 results in the mobile-side conducting plates 115A, 115B not fully covering the ground-side conducting plates 120A, 120B (or vice versa), the gross misalignment tolerant capacitive in-motion wireless power transfer system 100 will not turn on, since one or both sensors 1301, 1302 do not detect the beam 1311. In one aspect, the EM radiation source 1310 is housed within an inverted housing structure 1320 (Fig. 15) attached to the underside of the vehicle 900. Modulating the EM radiation source1310 enables communication between the vehicle 900 and the ground-side conducting plates 120A, 120B, while simultaneously providing additional safety by preventing spurious activations of the ground-side conducting plates 120A, 120B. The modulation scheme would encode the power level demanded and transmitted, and other useful data including the state of charge or health of the battery of the vehicle 900.

[0044] A block diagram for controllers implementing the proposed SCC strategy is illustrated in Figs. 16 and 17. The vehicle 900 continuously checks the battery state of charge (SOC), striving to maintain the SOC between 75% to 85% (values are changeable for optimization). When the battery SOC falls below 75%, the vehicle 900 starts to project the beam 1311 of EM radiation onto the ground 999. Once the beam 1311 actuates both sensors 1301, 1302 of ground-side conducting plates 120A, 120B, as described above, the controller activates the charging system, which begins to transfer its rated power across the coupler. The ground-side conducting plates 120A, 120B continues to transmit this power unless: 1) the temperature of the power devices of the transmitter or receiver exceeds a pre-set limit, or 2) at least one of the sensors 1301, 1302 turns off indicating the vehicle has moved outside the alignment range, or 3) the vehicle 900 does not emit the beam1311 of EM radiation due to the vehicle battery being charged and not needing additional energy. The controller also monitors the amount of power being received, and if it is lower than 90% (value adjustable) of the rated value, it turns off the beam 1311 of EM radiation, and the charging. The controller can turn the wireless charging system off in the order of milliseconds.

[0045] Referring now to Figs. 18-26, illustrated is an X-Y in-motion wireless charging system incorporating aspects of the disclosed embodiment. For wirelessly charging in both the X and Y directions, the number of transmitter plates (whether ground-side conducting plates 120A-120D or vehicle-side conducting plates 115A-115D) is increased from 2 plates to 4 plates, as illustrated in FIG. 19. For exemplary purposes, the system is described with respect to transmitter plates being ground-side conducting plate 120A-120D and receiver plates being mobile-side conducting plates 115A-115H, but could be vice versa. When the vehicle is moving in the X direction, the X- direction transmitter plates (e.g., ground-side conducting plate 120A-120B) are deactivated while the Y-direction transmitter plates (e.g., ground-side conducting plate 120C-120D) are activated, as illustrated in the middle image in FIG.19. Conversely, when the robot is moving in the Y direction, the Y-direction transmitter plates (e.g., ground-side conducting plate 120C-120D) are deactivated while the X-direction transmitter plates (e.g., ground-side conducting plate 120A- 120B) are activated, as illustrated in the right image in FIG.19.

[0046] The receiver plates (e.g., mobile-side conducting plates 115A-115H) are lengthen in both the X and Y directions as illustrated in the overhead view of the robot (vehicle 900) in FIG. 20. Here there are 4 corner plates (115A-115D) and 4 middle plates (115E-115H), all electrically separated and switchable, where the switching of the middle plates (115E-115H) increases the form factor (i.e., size and shape) of a respective conducting coupler pair 110A, HOB similar to that described above. It is noted that the switching of the middles plates may be commanded substantially simultaneously or in parallel with the activating or deactivating of the transmitter plates by the in-motion wireless charging pose feedback and control system 1300 as described below. When the vehicle 900 is moving in the X direction, the X-direction middle plates (115E, 115G) are deactivated while the Y-direction middle plates (115F, 115H) are activated (along with activating all of the comer plates (115A-1 ID) adjacent to the active middle plates (115F, 115H) with the same signals), which effectively forms lengthened X-direction receiver plates, as illustrated in the middle image in FIG. 20. Conversely, when the robot is moving in the Y direction, the Y- direction middle plates (115F, 115H) are deactivated while the X-direction middle plates (115E, 115G) are activated (along with activating all the corner plates (115A-11D) next to the active middle plates (115E, 115G) with the same signals), which effectively forms lengthened Y- direction receiver plates, as illustrated in the right image in FIG. 20. An overhead view of the 4 transmitter plates (e.g., ground-side conducting plates 120A-120D) above the effectivelylengthened X-direction receiver plates (e.g., mobile-side conducting plates 115A-115D, 115E, 115G) in different alignments is illustrated in the left image and in the middle image in FIG. 21, and the 4 transmitter plates (e.g., ground-side conducting plates 120A-120D) above the effectively lengthened Y-direction receiver plates (e.g., mobile-side conducting plates 115A-115D, 115F, 115H) in alignment is illustrated in the right image in FIG. 21.

[0047] The transmitter plates and receiver plates may be in any suitable shape, such as squares, rectangles (as illustrated in the left image and in the middle image, respectively, in FIG. 22), circular (as illustrated in the right image in FIG. 22), or any other suitable shape. In one aspect, rounding of the comers of the square / rectangle plates may be utilized to reduce electric charge build up, which may vary from a little, to fully rounded as illustrated in FIG. 19-21. The receiver plates can be lengthened to match the shape of the roof, underside, side, etc., of any sized robot or vehicle 900, as illustrated with the rectangular layout in the right image in FIG. 23. To accommodate this layout of receiver plates, the transmitter plates may be spread out and their enclosure enlarged appropriately, as illustrated in the left image in FIG. 23, in order to be in alignment with the receiver plates. The rectangular configuration in FIG. 23 has all the same X and Y direction benefits as the square layout system in FIG. 20-21.

[0048] Misalignment tolerance can be further enhanced by having smaller transmitter plates than receiver plates. As an example: with, e.g., about 25% smaller diameter transmitter plates than the receiver plates would enable a, e.g., about 25% misalignment tolerance in the Y direction while the robot is moving in the X direction, as illustrated on the left and the middle in FIG. 24. Conversely, this would also enable a, e.g., about 25% misalignment tolerance in the Y direction while the robot is moving in the X direction. The smaller transmitter plates would also enable rotational misalignments, as illustrated on the right in FIG. 24 by, e.g., about 32 degrees of rotational misalignment allowed from the, e.g., about 25% smaller transmitter plates.

[0049] The in-motion wireless charging pose feedback and control system 1300 is also configured to work with the XY-direction plates, as illustrated in Fig. 25. In this aspect, the XY-direction plates utilize four sensors 1301-1304 (two sensors 1301, 1302 for the X-direction, and two sensors 1303, 1304 for the Y-direction). When the vehicle 900 is moving in the X-direction and the battery needs charging, the vehicle activates an X-direction beam 1311 A, which when sensed by the X-direction sensors 1301, 1302, activates the transmitter plates (120C, 120D). Substantially simultaneously or in parallel with the activating or deactivating transmitter plates (120C, 120D), the in-motion wireless charging pose feedback and control system 1300 commands switching or activation / deactivation of the middles plates 115F, 115H. When the vehicle 900 is moving in the Y- direction and the battery needs charging, the vehicle 900 activates a Y-direction beam 131 IB, which when sensed by the Y-direction sensors 1303, 1304, activates the transmitter plates (120A, 120B). Substantially simultaneously or in parallel with the activating or deactivating transmitter plates (120C, 120D), the in-motion wireless charging pose feedback and control system 1300 commands switching or activation / deactivation of the middles plates 115E, 115G.

[0050] In one aspect, as illustrated in Fig. 26, a three-plate transmitter version of the XY-direction plates is possible. Here, the left plate (120A) is deactivated when the vehicle / robot 900 is moving in the X-direction, and the top plate (120C) is deactivated when the vehicle 900 is moving in the Y-direction. Also illustrated in Fig. 26 is an exemplary placement of the sensors 1301-1304 for the sensing and communication system 1300 (two sensors 1301, 1302 for the X-direction, and two sensors 1303, 1304 for the Y-direction). When the vehicle 900 is moving in the X-direction and the battery needs charging, the vehicle 900 activates the X-direction beam 1311 A, which then activates the transmitter plates (120B, 120C) when both of the transmitter’s X-direction sensors 1301, 1302 receive the beam 1311. When the vehicle 900 is moving in the Y-direction and the battery needs charging, the vehicle 900 activates the Y-direction beam 131 IB, which then activates the transmitter plates (120A, 120B) when both of the transmitter’s Y-direction sensors 1303, 1304 receive the beam 1311. Here, both the X-direction and Y-direction travel utilize a common plate 120B to charge the vehicle 900.

[0051] Referring now to Fig. 27, a method for in motion wireless power transfer for an in motion vehicle with a gross misalignment tolerant capacitive in motion wireless power transfer system 100. The method includes providing two pairs 110A, 110B of coupled conductive plates, of which at least one coupled conductive plate pair 110A, HOB includes a ground-side conducting plate 120A, 120B, and a mobile, or vehicle, side conducting plate 115A, 115B (Fig. 27, Block 2101), disposed so that the mobile-side conducting plate 115A, 115B and ground-side conducting plate 120A, 120B conductively couple with each other with the mobile-side 115A, 115B and groundside conducting plates 120A, 120B in motion relative to each other effecting wireless powertransfer between coupled conductive plates of the at least one coupled conductive plate pair 110A, HOB, wherein each of the ground-side conducting plate 120A, 120B and the mobile-side conducting plate 115A, 115B has a respective form factor 125 A, 125B, 126A, 126B described by conducting plate size and shape; and effecting substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates (Fig. 27, Block 2102), where at least one of the respective form factor of the mobile-side conducting plate 115A, 115B and the ground-side conducting plate 120A, 120B is different than another of the respective form factor of an opposing coupled conductive plate.

[0052] In accordance with the aspects of the disclosed embodiment a gross misalignment tolerant capacitive in motion wireless power transfer system for an in motion vehicle is provided. The system includes two pairs of coupled conductive plates, of which; at least one coupled conductive plate pair includes a ground-side conducting plate, and a mobile, or vehicle, side conducting plate, disposed so that the mobile-side conducting plate and ground-side conducting plate conductively couple with each other with the mobile-side and ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between coupled conductive plates of the at least one coupled conductive plate pair; wherein each of the ground-side conducting plate and the mobile-side conducting plate has a respective form factor described by conducting plate size and shape, and wherein at least one of the respective form factor of the mobile-side conducting plate and the ground-side conducting plate is different than another of the respective form factor of an opposing coupled conductive plate, the at least one respective form factor and the other respective form factor are characterized so that disposition of the coupled conducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates.

[0053] In accordance with the aspects of the disclosed embodiment the two pair of coupled conductive plates includes at least a first pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate, and at least a second pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate.

[0054] In accordance with the aspects of the disclosed embodiment the system further includes afirst matching network coupled to the at least the first pair of conductive plates, and a second matching network coupled to the at least the second pair of conductive plates.

[0055] In accordance with the aspects of the disclosed embodiment the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

[0056] In accordance with the aspects of the disclosed embodiment the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout a full range of relative motion between the coupled conducting plates.

[0057] In accordance with the aspects of the disclosed embodiment the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 100% laterally misaligned.

[0058] In accordance with the aspects of the disclosed embodiment the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 45° of rotational misalignment.

[0059] In accordance with the aspects of the disclosed embodiment a gross misalignment tolerant capacitive in motion wireless power transfer system for an in motion vehicle. The system includes two pairs of coupled conductive plates, that has; a first conductive plate pair including a first ground-side conducting plate, and a first mobile, or vehicle, side conducting plate, disposed so that the first mobile-side conducting plate and first ground-side conducting plate conductively couple with each other with the first mobile-side and first ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between coupled conductive plates of the first pair; wherein the first ground-side conducting plate has a first form factor and first mobile-side conducting plate has a second form factor, the first form factor is described by the size and shape of the first ground-side conducting plate, and second form factor is described by size and shape ofthe first mobile-side conducting plate, and wherein the first form factor is different than the second form factor so that respective form factors of opposing coupled conductive plates of the first pair are different from each other and are characterized so that disposition of the coupled conducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates.

[0060] In accordance with the aspects of the disclosed embodiment the second form factor of the first mobile-side conducting plate and first form factor of the first ground-side conducting plate provides that at least one of the first mobile-side conducting plate and the first ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

[0061] In accordance with the aspects of the disclosed embodiment the second form factor of the first mobile-side conducting plate and the first form factor of the first ground-side conducting plate provides that at least one of the first mobile-side conducting plate and the first ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout a full range of relative motion between the coupled conducting plates.

[0062] In accordance with the aspects of the disclosed embodiment the system further includes a first matching network coupled to the first conductive plate pair, and a second matching network coupled to a second conductive plate pair.

[0063] In accordance with the aspects of the disclosed embodiment the second conductive plate pair includes a second ground-side conducting plate, and a second mobile, or vehicle, side conducting plate, disposed so that the second mobile-side conducting plate and second groundside conducting plate conductively couple with each other with the second mobile-side and second ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between coupled conductive plates of the second conductive plate pair, wherein the second ground-side conducting plate has a form factor and second mobile-side conducting plate has another form factor, each described by the size and shape of the second ground-side conducting plate and second mobile-side conducting plate, wherein the form factor is different than the other form factor so that respective form factors of opposing coupled conductive plates of the second pair are different from each other and are characterized so that disposition of the coupledconducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates.

[0064] In accordance with the aspects of the disclosed embodiment the misalignment tolerance of the first ground-side conducting plate relative to the first mobile-side conducting plate is substantially 100% laterally misaligned.

[0065] In accordance with the aspects of the disclosed embodiment the misalignment tolerance of the first ground-side conducting plate relative to the first mobile-side conducting plate is substantially 45° of rotational misalignment.

[0066] In accordance with the aspects of the disclosed embodiment an in motion wireless charging pose feedback and control system for an in motion vehicle is provided. The system includes a conducting plate couple including a ground-side conducting plate, and a mobile, or vehicle, side conducting plate, disposed so that the mobile-side conducting plate and ground-side conducting plate conductively couple with each other with the mobile-side and ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between coupled conductive plates of the at least one pair; an electromagnetic (EM) radiation source connected to the mobile- side conducting plate and configured to generate a beam of EM radiation; an EM radiation sensor connected to the ground-side conducting plate and configured to sense the beam irradiating the sensor and sends a beam detection signal corresponding to the sensor sensing the beam; and a controller communicably connected to the sensor to receive the beam detection signal, and operably connected to the ground-side conducting plate, the controller being configured to switch state of the ground-side conducting plate from de-energized to energized, so as to power the ground-side conducting plate, in response to receiving the beam detection signal from each EM radiation sensor of the EM radiation sensor, and so that the ground-side conducting plate is powered substantially coincident with receipt of the beam detection signal, wherein the EM radiation source is configured so that the beam is sized and shaped to substantially conform with at least an aspect of the conducting plate size and shape describing a form factor of the mobile- side conducting plate, and wherein the EM sensor forms a gate arranged so that in cooperation with the beam, the gate describes a maximum misalignment tolerance between conducting plates of the conducting plate couple, and wherein with misalignment between conducting plates withinthe maximum misalignment tolerance, each sensor of the gate sends the beam detection signal.

[0067] In accordance with the aspects of the disclosed embodiment with the misalignment between conducting plates within the maximum misalignment tolerance, each sensor of the gate is irradiated by the beam.

[0068] In accordance with the aspects of the disclosed embodiment with the misalignment between conducting plates exceeding the maximum misalignment tolerance, at least one sensor of the sensor gate is outside the beam.

[0069] In accordance with the aspects of the disclosed embodiment the conducting plate couple includes at least a first pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate, and at least a second pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate.

[0070] In accordance with the aspects of the disclosed embodiment the system further includes a first matching network coupled to the at least the first pair of conductive plates, and a second matching network coupled to the at least the second pair of conductive plates.

[0071] In accordance with the aspects of the disclosed embodiment the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

[0072] In accordance with the aspects of the disclosed embodiment a method for in motion wireless power transfer for an in motion vehicle with a gross misalignment tolerant capacitive in motion wireless power transfer system is provided. The method includes providing two pairs of coupled conductive plates, of which at least one coupled conductive plate pair includes a groundside conducting plate, and a mobile, or vehicle, side conducting plate, disposed so that the mobile- side conducting plate and ground-side conducting plate conductively couple with each other with the mobile-side and ground-side conducting plates in motion relative to each other effecting wireless power transfer between coupled conductive plates of the at least one coupled conductiveplate pair, wherein each of the ground-side conducting plate and the mobile-side conducting plate has a respective form factor described by conducting plate size and shape; and effecting substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates, where at least one of the respective form factor of the mobile-side conducting plate and the ground-side conducting plate is different than another of the respective form factor of an opposing coupled conductive plate.

[0073] In accordance with the aspects of the disclosed embodiment the two pair of coupled conductive plates includes at least a first pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate, and at least a second pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate.

[0074] In accordance with the aspects of the disclosed embodiment the method further includes a first matching network coupled to the at least the first pair of conductive plates, and a second matching network coupled to the at least the second pair of conductive plates.

[0075] In accordance with the aspects of the disclosed embodiment the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

[0076] In accordance with the aspects of the disclosed embodiment the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout a full range of relative motion between the coupled conducting plates.

[0077] In accordance with the aspects of the disclosed embodiment the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 100% laterally misaligned.

[0078] In accordance with the aspects of the disclosed embodiment the misalignment tolerance ofthe ground-side conducting plate relative to the mobile-side conducting plate is substantially 45° of rotational misalignment.

[0079] In accordance with the aspects of the disclosed embodiment the receiver conducting plates are increased in number to 8 including 4 electrically isolated corner plates and 4 electrically isolated middle plates to effectively form lengthened plates in the X or Y direction to enable the capacitive coupler while the vehicle is in motion in the X or Y directions, whose operation includes the middle receiver plates in the X direction are deactivated while the middle plates in the Y direction are activated, with the corner plates adjacent to the first active middle plate in the Y direction are electrically connected to the first active middle plate in the Y direction, and the comer plates adj acent to the second active middle plate in the Y direction are electrically connected to the second active middle plate in the Y direction, effectively forming a pair of lengthened X-direction plates in the capacitive coupler to increase forward / reverse coupler misalignment tolerance and enable the capacitive coupler to work while the vehicle is in motion in the X direction, the middle receiver plates in the Y direction are deactivated while the middle plates in the X direction are activated, with the comer plates adjacent to the first active middle plate in the X direction are electrically connected to the first active middle plate in the X direction, and the comer plates adjacent to the second active middle plate in the X direction are electrically connected to the second active middle plate in the X direction, effectively forming a pair of lengthened Y-direction plates in the capacitive coupler to increase forward / reverse coupler misalignment tolerance and enable the capacitive coupler to work while the vehicle is in motion in the Y direction. The middle receiver plates in the X and Y direction can be lengthened to more closely cover the available space on the vehicle, and that the overall shape of all of the receiver plates maintains a rectangular form, with or without rounded corners.

[0080] In accordance with the aspects of the disclosed embodiment the transmitter conducting plates in the capacitive coupler are increased in number to 4 plates and are electrically isolated and placed in a manner that each transmitter plate is centered over each of the 4 middle receiver plates when transmitter is centered over the receiver for vehicles with top mounted wireless charging systems, or centered under the receiver for vehicles with underside mounted wireless charging systems, whose operation incudes the middle transmitter coupling plates in the X direction are deactivated while the middle plates in the Y direction are activated, creating a capacitive couplerwith the receiver plates with its middle plates deactivated in the X direction to increase forward / reverse coupler misalignment tolerance and enable the capacitive coupler to work while the vehicle is in motion in the X direction; the middle transmitter coupling plates in the Y direction are deactivated while the middle plates in the X direction are activated, creating a capacitive coupler with the receiver plates with its middle plates deactivated in the Y direction to increase forward / reverse coupler misalignment tolerance and enable the capacitive coupler to work while the vehicle is in motion in the Y direction; the transmitter coupling plates are mounted in an enclosure that fully covers the vehicle in any position, or the transmitter coupling plates are mounted on a ceiling that acts as a finite plane that covers the vehicle in any position, or the transmitter coupling plates are mounted on a false ceiling that acts as a finite plane that covers the vehicle in any position; the transmitter conducting plates are reduced in size compared to the first pair transmitter conducting plates to increase sideways coupler misalignment tolerance in reference to the direction of the traveling vehicle and enable the capacitive coupler work while the vehicle is in motion tolerance and to increase rotational coupler misalignment tolerance.

[0081] It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the present disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the present disclosure.

[0082] What is claimed is:

Claims

CLAIMS1. A gross misalignment tolerant capacitive in motion wireless power transfer system for an in motion vehicle, the system comprising: two pairs of capacitively coupled conductive plates, of which; at least one coupled conductive plate pair includes a ground-side conducting plate, and a mobile, or vehicle, side conducting plate, disposed so that the mobile-side conducting plate and groundside conducting plate capacitively couple with each other with the mobile-side and ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between the capacitively coupled conductive plates of the at least one coupled conductive plate pair; wherein each of the ground-side conducting plate and the mobile-side conducting plate has a respective form factor described by conducting plate size and shape, and wherein at least one of the respective form factor of the mobile-side conducting plate and the ground-side conducting plate is different than another of the respective form factor of an opposing coupled conductive plate, the at least one respective form factor and the other respective form factor are characterized so that disposition of the coupled conducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates.

2. The system of claim 1, wherein the two pair of capacitively coupled conductive plates includes at least a first pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate, and at least a second pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate.

3. The system of claim 1, further comprising a first matching network coupled to the at least the first pair of conductive plates, and a second matching network coupled to the at least the second pair of conductive plates.

4. The system of claim 1, wherein the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conductingplate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

5. The system of claim 1, wherein the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout a full range of relative motion between the coupled conducting plates.

6. The system of claim 1, wherein the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 100% laterally misaligned.

7. The system of claim 1, wherein the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 45° of rotational misalignment.

8. A gross misalignment tolerant capacitive in motion wireless power transfer system for an in motion vehicle, the system comprising: two pairs of capacitively coupled conductive plates, that has; a first conductive plate pair including a first ground-side conducting plate, and a first mobile, or vehicle, side conducting plate, disposed so that the first mobile-side conducting plate and first ground-side conducting plate capacitively couple with each other with the first mobile-side and first ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between the capacitively coupled conductive plates of the first pair; wherein the first ground-side conducting plate has a first form factor and first mobile-side conducting plate has a second form factor, the first form factor is described by the size and shape of the first ground-side conducting plate, and second form factor is described by size and shape of the first mobile-side conducting plate, and wherein the first form factor is different than the second form factor so that respective form factors of opposing capacitively coupled conductive plates of the first pair are different from each other and are characterized so that disposition of the coupled conducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50%misalignment tolerance between the coupled conducting plates.

9. The system of claim 8, wherein the second form factor of the first mobile-side conducting plate and first form factor of the first ground-side conducting plate provides that at least one of the first mobile-side conducting plate and the first ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

10. The system of claim 8, wherein the second form factor of the first mobile-side conducting plate and the first form factor of the first ground-side conducting plate provides that at least one of the first mobile-side conducting plate and the first ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout a full range of relative motion between the coupled conducting plates.

11. The system of claim 8, further comprising a first matching network coupled to the first conductive plate pair, and a second matching network coupled to a second conductive plate pair.

12. The system of claim 11, wherein the second conductive plate pair includes a second ground-side conducting plate, and a second mobile, or vehicle, side conducting plate, disposed so that the second mobile-side conducting plate and second ground-side conducting plate capacitively couple with each other with the second mobile-side and second ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between the capacitively coupled conductive plates of the second conductive plate pair, wherein the second ground-side conducting plate has a form factor and second mobile-side conducting plate has another form factor, each described by the size and shape of the second ground-side conducting plate and second mobile-side conducting plate, wherein the form factor is different than the other form factor so that respective form factors of opposing capacitively coupled conductive plates of the second pair are different from each other and are characterized so that disposition of the coupled conducting plates opposing each other provide substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates.

13. The system of claim 8, wherein the misalignment tolerance of the first ground-side conducting plate relative to the first mobile-side conducting plate is substantially 100% laterallymisaligned.

14. The system of claim 8, wherein the misalignment tolerance of the first ground-side conducting plate relative to the first mobile-side conducting plate is substantially 45° of rotational misalignment.

15. An in motion wireless charging pose feedback and control system for an in motion vehicle, the system comprising: a conducting plate couple including a ground-side conducting plate, and a mobile, or vehicle, side conducting plate, disposed so that the mobile-side conducting plate and ground-side conducting plate conductively couple with each other with the mobile-side and ground-side conducting plates in motion relative to each other so as to effect wireless power transfer between capacitively coupled conductive plates of the at least one pair; an electromagnetic (EM) radiation source connected to the mobile-side conducting plate and configured to generate a beam of EM radiation; an EM radiation sensor connected to the ground-side conducting plate and configured to sense the beam irradiating the sensor and sends a beam detection signal corresponding to the sensor sensing the beam; and a controller communicably connected to the sensor to receive the beam detection signal, and operably connected to the ground-side conducting plate, the controller being configured to switch state of the ground-side conducting plate from de-energized to energized, so as to power the ground-side conducting plate, in response to receiving the beam detection signal from each EM radiation sensor of the EM radiation sensor, and so that the ground-side conducting plate is powered substantially coincident with receipt of the beam detection signal, wherein the EM radiation source is configured so that the beam is sized and shaped to substantially conform with at least an aspect of the conducting plate size and shape describing a form factor of the mobile-side conducting plate, and wherein the EM sensor forms a gate arranged so that in cooperation with the beam, the gate describes a maximum misalignment tolerance between conducting plates of the conducting plate couple, andwherein with misalignment between conducting plates within the maximum misalignment tolerance, each sensor of the gate sends the beam detection signal.

16. The system of claim 15, wherein with the misalignment between conducting plates within the maximum misalignment tolerance, each sensor of the gate is irradiated by the beam.

17. The system of claim 15, wherein with the misalignment between conducting plates exceeding the maximum misalignment tolerance, at least one sensor of the sensor gate is outside the beam.

18. The system of claim 15, wherein the conducting plate couple includes at least a first pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate, and at least a second pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate.

19. The system of claim 18, further comprising a first matching network coupled to the at least the first pair of conductive plates, and a second matching network coupled to the at least the second pair of conductive plates.

20. The system of claim 15, wherein the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

21. A method for in motion wireless power transfer for an in motion vehicle with a gross misalignment tolerant capacitive in motion wireless power transfer system, the method comprising: providing two pairs of capacitively coupled conductive plates, of which at least one coupled conductive plate pair includes a ground-side conducting plate, and a mobile, or vehicle, side conducting plate, disposed so that the mobile-side conducting plate and ground-side conducting plate capacitively couple with each other with the mobile-side and ground-side conducting platesin motion relative to each other effecting wireless power transfer between the capacitively coupled conductive plates of the at least one coupled conductive plate pair, wherein each of the groundside conducting plate and the mobile-side conducting plate has a respective form factor described by conducting plate size and shape; and effecting substantially full power transfer at substantially full efficiency with a greater than 50% misalignment tolerance between the coupled conducting plates, where at least one of the respective form factor of the mobile-side conducting plate and the ground-side conducting plate is different than another of the respective form factor of an opposing coupled conductive plate.

22. The method of claim 21, wherein the two pair of capacitively coupled conductive plates includes at least a first pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate, and at least a second pair of conductive plates, each having one or more of the mobile-side conducting plate, or one or more of the ground-side conducting plate.

23. The method of claim 21 , further comprising a first matching network coupled to the at least the first pair of conductive plates, and a second matching network coupled to the at least the second pair of conductive plates.

24. The method of claim 21, wherein the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout the greater than 50% misalignment tolerance between the coupled conducting plates.

25. The method of claim 21, wherein the respective form factor of the mobile-side conducting plate and the ground-side conducting plate provides that at least one of the mobile-side conducting plate and the ground-side conducting plate is fully covered by the other of the coupled conducting plates throughout a full range of relative motion between the coupled conducting plates.

26. The method of claim 21, wherein the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 100% laterally misaligned.

27. The method of claim 21, wherein the misalignment tolerance of the ground-side conducting plate relative to the mobile-side conducting plate is substantially 45° of rotational misalignment.

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