阅读说明：本技术 无线充电的控制方法及无线充电发射装置 (Wireless charging control method and wireless charging transmitting device ) 是由 顾元强 袁海峰 张鸿 王福强 于 2021-08-19 设计创作，主要内容包括：本发明实施例公开了一种无线充电的控制方法及无线充电发射装置。其中,该无线充电的控制方法包括：获取待无线充电设备中的接收线圈的位置和姿态；根据待无线充电设备中的接收线圈的位置和姿态,确定输入至平面发射线圈阵列中的各发射线圈的电流的相位。本发明实施例提供的技术方案可以提高平面发射线圈阵列对各种位置和姿态下的待无线充电设备的充电效率和接收功率,以使待无线充电设备的摆放位置不受限制,可随意摆放,且平面发射线圈阵列占用空间小,易于小型化轻量化,扩展性强。(The embodiment of the invention discloses a wireless charging control method and a wireless charging transmitting device. The wireless charging control method comprises the following steps: acquiring the position and the posture of a receiving coil in equipment to be wirelessly charged; and determining the phase of the current input to each transmitting coil in the planar transmitting coil array according to the position and the posture of the receiving coil in the equipment to be wirelessly charged. The technical scheme provided by the embodiment of the invention can improve the charging efficiency and the receiving power of the planar transmitting coil array to the equipment to be wirelessly charged at various positions and postures, so that the equipment to be wirelessly charged is not limited in placement position and can be randomly placed, and the planar transmitting coil array occupies small space, is easy to miniaturize and lighten and has strong expansibility.)

1. A control method for wireless charging is characterized by comprising the following steps:

acquiring the position and the posture of a receiving coil in equipment to be wirelessly charged;

and determining the phase of the current input to each transmitting coil in the planar transmitting coil array according to the position and the posture of the receiving coil in the equipment to be wirelessly charged.

2. The method of claim 1, wherein obtaining the position and orientation of the receiving coil in the device to be wirelessly charged comprises:

the planar transmitting coil array forms a unidirectional magnetic field in three directions in a time-sharing manner, wherein any two directions of the three directions are mutually vertical;

and determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields.

3. The method of claim 2, wherein determining the position and orientation of a receiving coil in the device to be wirelessly charged based on the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields comprises:

for each direction of the three directions, determining an effective area of a receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction according to the number, position and size of the transmitting coils of which the input power is higher than a preset threshold value when the planar transmitting coil array forms the magnetic field in each single direction, wherein the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction is an area of a projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction;

determining the included angle between a receiving coil in the equipment to be wirelessly charged and a plane formed by any two directions in the three directions by comparing the power input to each transmitting coil when the planar transmitting coil array forms different magnetic fields in a single direction;

and determining the coordinate of the receiving coil in the equipment to be wirelessly charged in the three-dimensional space according to the effective area of the receiving coil in the equipment to be wirelessly charged for receiving the magnetic fields in the three directions and the included angle of the plane formed by the receiving coil in the equipment to be wirelessly charged and any two directions in the three directions.

4. The method of claim 1, wherein determining the phase of the current input to each transmitting coil of the planar transmitting coil array according to the position and the attitude of the receiving coil in the device to be wirelessly charged comprises:

acquiring a relation between a power component in each of three directions received by a receiving coil in the equipment to be wirelessly charged at a current position and in a current posture and a phase of a current input to each transmitting coil in the planar transmitting coil array under the action of a magnetic field to be formed of the planar transmitting coil array according to the position and the posture of the receiving coil in the equipment to be wirelessly charged, wherein any two directions of the three directions are perpendicular to each other;

and determining the phase of the current input to each transmitting coil in the planar transmitting coil array through an optimization algorithm based on the relation between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array.

5. The method for controlling wireless charging according to claim 4, wherein obtaining, according to the position and the posture of the receiving coil in the device to be wirelessly charged, the relationship between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged in the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array comprises:

for each direction of the three directions, acquiring a relationship between a magnetic induction intensity component of the direction received by a receiving coil in the equipment to be wirelessly charged and a phase of current input to each transmitting coil in the planar transmitting coil array under the action of a magnetic field to be formed of the planar transmitting coil array at the current position and the current attitude according to the position and the attitude of the receiving coil in the equipment to be wirelessly charged;

for each of the three directions, determining a relationship between a power component of the direction received by the receiving coil in the device to be wirelessly charged at the current position and the current phase input to each transmitting coil in the planar transmitting coil array at the current posture under the action of the magnetic field to be formed of the planar transmitting coil array, and determining an effective area of the receiving coil in the device to be wirelessly charged at the current position and the current phase input to each transmitting coil in the planar transmitting coil array at the current posture under the action of the magnetic field to be formed of the planar transmitting coil array, wherein the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field is a projection of the receiving coil in the device to be wirelessly charged on a plane formed by the receiving coil in the other two directions along the direction Area.

6. The control method of wireless charging according to claim 2 or 4, wherein one of the three directions is perpendicular to the planar transmission coil array;

the wireless charging equipment is a plurality of.

7. A wireless charging transmitting device, comprising:

a planar transmit coil array;

the inverters are arranged in one-to-one correspondence to the transmitting coils, and the output ends of the inverters are electrically connected with the corresponding transmitting coils;

a control module electrically connected with the inverter; the control module is used for acquiring the position and the posture of a receiving coil in the equipment to be wirelessly charged; and determining the phase of the current input to the corresponding transmitting coil by each inverter according to the position and the posture of the receiving coil in the equipment to be wirelessly charged.

8. The wireless charging transmitting device of claim 7, further comprising: the power acquisition modules are arranged in one-to-one correspondence with the transmitting coils and used for acquiring the power input by the inverter to the corresponding transmitting coils when the planar transmitting coil array forms a unidirectional magnetic field;

the control module is electrically connected with the power acquisition module; the control module is used for controlling the current input to the planar transmitting coil array by the inverter, so that the whole planar transmitting coil array forms a single-direction magnetic field in three directions in a time-sharing manner, wherein any two directions of the three directions are mutually vertical; and determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to the corresponding transmitting coil by each inverter when the planar transmitting coil array forms various unidirectional magnetic fields.

9. The wireless charging transmitting device according to claim 7, wherein the control module is configured to obtain, according to the position and the posture of the receiving coil in the device to be wirelessly charged, a relationship between a power component in each of three directions received by the receiving coil in the device to be wirelessly charged in a current position and posture and a phase of a current input to the corresponding transmitting coil by each inverter under the action of a magnetic field to be formed by the planar transmitting coil array; and determining the phase of the current input to the corresponding transmitting coil by each inverter through an optimization algorithm based on the relationship between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to the corresponding transmitting coil by each inverter under the action of the magnetic field to be formed of the planar transmitting coil array, wherein any two directions of the three directions are perpendicular to each other.

10. The wireless charging transmitter according to claim 7, wherein in the planar transmitting coil array, two adjacent transmitting coils in each row of transmitting coils are overlapped and spaced from two adjacent transmitting coils of the same transmitting coil; two adjacent transmitting coils in each row of transmitting coils are overlapped and arranged at intervals with two adjacent transmitting coils of the same transmitting coil; diagonally adjacent transmit coils overlap;

the average cross-coupling coefficient of the transmitting coil is 0, wherein the average cross-coupling coefficient of the transmitting coil isThe planar transmitting coil array is M rows and N columns, M and N are integers greater than or equal to 2, and k₁For the coupling coefficient, k, of two adjacent transmitting coils in the row or column direction₂Is the coupling coefficient of two diagonally adjacent transmit coils.

Technical Field

The invention relates to the technical field of wireless charging, in particular to a wireless charging control method and a wireless charging transmitting device.

Background

In the practical application scenario of consumer electronics, each receiving device generally has different sizes, spatial positions and attitudes, load characteristics, power requirements, and the like; and its position and attitude may also dynamically vary within a certain range. For example, in the target wireless power transmission space, aiming at the continuous power supply of various electronic devices randomly placed or held by a user. The diversity and the dynamic property of the spatial position/posture of each receiving device provide new requirements and challenges for the aspects of transmission distance/angle, topological structure, modeling analysis, detection and control, optimization design and the like of the existing near-field wireless power transmission system.

Disclosure of Invention

The embodiment of the invention provides a wireless charging control method and a wireless charging transmitting device, which are used for improving the charging efficiency and receiving power of a planar transmitting coil array to equipment to be wirelessly charged at various positions and postures, so that the equipment to be wirelessly charged is not limited in placement position and can be randomly placed, and the planar transmitting coil array occupies a small space, is easy to miniaturize and lighten and has strong expansibility.

In a first aspect, an embodiment of the present invention provides a method for controlling wireless charging, including:

acquiring the position and the posture of a receiving coil in equipment to be wirelessly charged;

and determining the phase of the current input to each transmitting coil in the planar transmitting coil array according to the position and the posture of the receiving coil in the equipment to be wirelessly charged.

Further, acquiring the position and the posture of the receiving coil in the device to be wirelessly charged includes:

the planar transmitting coil array forms a unidirectional magnetic field in three directions in a time-sharing manner, wherein any two directions in the three directions are mutually vertical;

and determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields.

Further, determining the position and the posture of the receiving coil in the device to be wirelessly charged according to the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields includes:

for each of the three directions, determining an effective area of a receiving coil in the device to be wirelessly charged for receiving the magnetic field in each direction according to the number, position and size of transmitting coils of which the input power is higher than a preset threshold value when the planar transmitting coil array forms the magnetic field in each single direction, wherein the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction is an area of a projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction;

determining the included angle of a receiving coil in the equipment to be wirelessly charged and a plane formed by any two directions in the three directions by comparing the power input to each transmitting coil when the planar transmitting coil array forms different unidirectional magnetic fields;

and determining the coordinate of the receiving coil in the equipment to be wirelessly charged in the three-dimensional space according to the effective area of the receiving coil in the equipment to be wirelessly charged for receiving the magnetic fields in the three directions and the included angle of the plane formed by the receiving coil in the equipment to be wirelessly charged and any two directions in the three directions.

Further, determining the phase of the current input to each transmitting coil in the planar transmitting coil array according to the position and the posture of the receiving coil in the device to be wirelessly charged comprises:

acquiring the relation between the power component of each of three directions received by a receiving coil in the equipment to be wirelessly charged in the current position and attitude and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of a magnetic field to be formed of the planar transmitting coil array according to the position and attitude of the receiving coil in the equipment to be wirelessly charged, wherein any two directions in the three directions are vertical to each other;

based on the relationship between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array, the phase of the current input to each transmitting coil in the planar transmitting coil array is determined through an optimization algorithm.

Further, obtaining, according to the position and the posture of the receiving coil in the device to be wirelessly charged, a relationship between a power component in each of three directions received by the receiving coil in the device to be wirelessly charged in the current position and posture and a phase of a current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array includes:

aiming at each direction of the three directions, acquiring the relation between the magnetic induction component of the direction received by the receiving coil in the equipment to be wirelessly charged at the current position and the current phase of each transmitting coil input to the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array according to the position and the posture of the receiving coil in the equipment to be wirelessly charged;

for each direction of the three directions, according to the relation that under the action of the magnetic field to be formed of the planar transmitting coil array, the receiving coil in the equipment to be wirelessly charged receives the magnetic induction component of the direction under the current position and the current phase of each transmitting coil in the planar transmitting coil array, and the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction, determining the relationship between the power component of the direction received by the receiving coil in the device to be wirelessly charged in the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array, the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction is the area of the projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction.

Further, one of the three directions is perpendicular to the planar transmitting coil array;

the number of the devices to be wirelessly charged is multiple.

In a second aspect, an embodiment of the present invention further provides a wireless charging transmitting apparatus, including:

a planar transmit coil array;

the inverters are arranged in one-to-one correspondence to the transmitting coils, and the output ends of the inverters are electrically connected with the corresponding transmitting coils;

the control module is electrically connected with the inverter; the control module is used for acquiring the position and the posture of a receiving coil in the equipment to be wirelessly charged; and determining the phase of the current input to the corresponding transmitting coil by each inverter according to the position and the posture of the receiving coil in the equipment to be wirelessly charged.

Further, the wireless charging transmitting device further comprises: the power acquisition modules are arranged in one-to-one correspondence with the transmitting coils and used for acquiring the power input to the corresponding transmitting coils by the inverter when the planar transmitting coil array forms a unidirectional magnetic field;

the control module is electrically connected with the power acquisition module; the control module is used for controlling the current input to the planar transmitting coil array by the inverter, so that the whole planar transmitting coil array forms a single-direction magnetic field in three directions in a time-sharing manner, wherein any two directions in the three directions are mutually vertical; and determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to the corresponding transmitting coil by each inverter when the planar transmitting coil array forms various unidirectional magnetic fields.

Further, the control module is used for acquiring the relationship between the power component of each of the three directions received by the receiving coil in the equipment to be wirelessly charged at the current position and attitude and the phase of the current input to the corresponding transmitting coil by each inverter under the action of the magnetic field to be formed of the planar transmitting coil array according to the position and attitude of the receiving coil in the equipment to be wirelessly charged; based on the relationship between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to the corresponding transmitting coil by each inverter under the action of the magnetic field to be formed of the planar transmitting coil array, the phase of the current input to the corresponding transmitting coil by each inverter is determined through an optimization algorithm, wherein any two directions of the three directions are perpendicular to each other.

Furthermore, in the planar transmitting coil array, two adjacent transmitting coils in each row of transmitting coils are overlapped, and the two adjacent transmitting coils with the same transmitting coil are arranged at intervals; two adjacent transmitting coils in each row of transmitting coils are overlapped and arranged at intervals with two adjacent transmitting coils of the same transmitting coil; diagonally adjacent transmit coils overlap;

the average cross-coupling coefficient of the transmitting coil is 0, wherein the average cross-coupling coefficient of the transmitting coil isThe planar transmitting coil array is M rows and N columns, M and N are integers greater than or equal to 2, k₁For the coupling coefficient, k, of two adjacent transmitting coils in the row or column direction₂Is the coupling coefficient of two diagonally adjacent transmit coils.

According to the technical scheme of the embodiment of the invention, the position and the posture of a receiving coil in the equipment to be wirelessly charged are obtained; the phase of the current input to each transmitting coil in the planar transmitting coil array is determined according to the position and the posture of the receiving coil in the equipment to be wirelessly charged, so that the charging efficiency and the receiving power of the planar transmitting coil array to the equipment to be wirelessly charged at various positions and postures are improved, the placing position of the equipment to be wirelessly charged is not limited and can be placed at will, the planar transmitting coil array occupies a small space, and the equipment to be wirelessly charged is easy to miniaturize and lighten and has strong expansibility.

Drawings

Fig. 1 is a flowchart of a control method for wireless charging according to an embodiment of the present invention;

fig. 2 is a schematic view of an application scenario provided in the embodiment of the present invention;

fig. 3 is a flowchart of another wireless charging control method according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a planar transmit coil array forming a unidirectional magnetic field in a first direction according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a planar transmit coil array forming a unidirectional magnetic field in a second direction according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a planar transmit coil array forming a unidirectional magnetic field in a third direction according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a receiving coil according to an embodiment of the present invention, which is located in a plane perpendicular to a first direction;

fig. 8 is a schematic diagram of a receiving coil according to an embodiment of the present invention, which is located in a plane perpendicular to a second direction;

fig. 9 is a schematic diagram of a receiving coil according to an embodiment of the present invention, which is located in a plane perpendicular to a third direction;

FIG. 10 is a flowchart of a method that refines step 220 of FIG. 3;

FIG. 11 is a diagram illustrating a single-direction magnetic field in a first direction formed by a planar transmitting coil array when a plane of a receiving coil is perpendicular to a YZ plane according to an embodiment of the present invention;

FIG. 12 is a diagram illustrating a single-direction magnetic field in a third direction formed by a planar transmitting coil array when a plane of a receiving coil is perpendicular to a YZ plane according to an embodiment of the present invention;

FIG. 13 is a diagram illustrating a single-direction magnetic field in a second direction formed by a planar transmitting coil array when a plane of a receiving coil is perpendicular to a YZ plane according to an embodiment of the present invention;

fig. 14 is a flowchart of another wireless charging control method according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a planar transmitting coil array according to an embodiment of the present invention;

fig. 16 is a flowchart of another wireless charging control method according to an embodiment of the present invention;

fig. 17 is a schematic circuit connection diagram of a wireless charging transmitting device according to an embodiment of the present invention;

fig. 18 is a schematic circuit connection diagram of another wireless charging and transmitting device according to an embodiment of the present invention;

fig. 19 is a schematic structural diagram of another planar transmitting coil array provided in the embodiment of the present invention;

FIG. 20 is a graph illustrating the variation of the coupling coefficient of two adjacent transmitting coils along the row direction or the column direction according to the overlapping distance;

FIG. 21 is a graph illustrating the coupling coefficient of two diagonally adjacent transmit coils as a function of overlap distance;

FIG. 22 is a graph illustrating the variation of the average cross-coupling coefficient with the overlap distance;

FIG. 23 is a schematic diagram of an optimized magnetic field distribution provided by an embodiment of the present invention;

FIG. 24 is a schematic diagram of another optimized magnetic field distribution provided by an embodiment of the present invention;

fig. 25 is a schematic diagram of another optimized magnetic field distribution provided by the embodiment of the invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The embodiment of the invention provides a control method for wireless charging. Fig. 1 is a flowchart of a control method for wireless charging according to an embodiment of the present invention. Fig. 2 is a schematic view of an application scenario provided in the embodiment of the present invention. The control method of the wireless charging can be realized based on the wireless charging transmitting device provided by the embodiment of the invention. The control method of the wireless charging can be executed by a control module of the wireless charging transmitting device provided by the embodiment of the invention, and the control module can be realized by software and/or hardware. The wireless charging control method specifically comprises the following steps:

and step 110, acquiring the position and the posture of a receiving coil in the equipment to be wirelessly charged.

The device 60 to be wirelessly charged may include a handheld device, a mobile terminal, and the like, and may be, for example, a mobile phone, a tablet computer, and a wearable device such as a watch and an earphone. The devices to be wirelessly charged 60 may be one or more. The plurality of to-be-wirelessly charged devices 60 may include a plurality of to-be-wirelessly charged devices different in shape, size, spatial position, and posture. The planar transmit coil array 10 may form a magnetic field to transmit energy to the receive coil 61 in the device 60 to be wirelessly charged. The magnetic field direction at the position of the receiving coil 61 is more perpendicular to the plane of the receiving coil 61, which is more beneficial to improving the receiving power and the charging efficiency. The position and posture of the wireless charging device 60 can be varied due to the structure of the wireless charging device and the use or placing position of the user, for example, the watch can be flatly placed on the planar transmitting coil array, and the plane of the receiving coil of the watch is parallel to the planar transmitting coil array; the earphone can be vertically placed on the planar transmitting coil array, and the plane of the receiving coil of the earphone is perpendicular to the planar transmitting coil array; the tablet personal computer can be obliquely placed on the planar transmitting coil array, and a plane where a receiving coil of the tablet personal computer is located and the planar transmitting coil array form a certain included angle; a user holds and operates the mobile phone, so that the mobile phone is suspended above the planar transmitting coil array, and the position and the posture of a receiving coil in the mobile phone can be changed in six degrees of freedom in space.

The position and orientation of the receiving coil 61 in the device to be wirelessly charged 60 may be acquired in the same or similar manner as the position and orientation of the receiving coil in the device to be wirelessly charged in the related art. For example, the position and the posture of the receiving coil in the device to be wirelessly charged may be acquired by the image acquisition unit.

And step 120, determining the phase of the current input to each transmitting coil in the planar transmitting coil array according to the position and the posture of the receiving coil in the equipment to be wirelessly charged.

The planar transmitting coil array 10 may include a plurality of transmitting coils 11 arranged in an array. The current of each transmitting coil 11 can be controlled individually, and the phase of the current input to each transmitting coil in the planar transmitting coil array can be controlled by controlling the inverter to form the strength, direction and distribution of the desired magnetic field, i.e., to form the desired magnetic field shape. The amplitudes of the currents input to the respective transmitting coils in the planar transmitting coil array may be equal to be a constant value. The frequency of the current input to each transmit coil in the planar transmit coil array may be equal, being a constant value. The position and the posture of a receiving coil in the equipment to be wirelessly charged can be monitored in real time, the phase of current input to each transmitting coil in the planar transmitting coil array is adjusted in real time, so that an optimized magnetic field shape is formed, the magnetic field direction of the position of the receiving coil is more vertical to the plane of the receiving coil, the magnetic flux of the position of the receiving coil is larger, the magnetic flux of the outer side of the receiving coil is lower, and the receiving power and the charging efficiency of the equipment to be wirelessly charged are improved.

Compared with an orthogonal or three-dimensional transmitting coil structure with an angle between transmitting coils, the planar transmitting coil array has small occupied space, is easy to miniaturize and lighten, has strong expansibility, and solves the problems that the structure of the orthogonal three-dimensional coil has larger occupied space and volume, the receiving device is limited to be placed, the expansibility of the coil array is weak, and the forming freedom degree of a magnetic field is low; the wireless power transmission space has low degree of freedom, and the device is not easy to be miniaturized and can not be flattened.

According to the technical scheme, the position and the posture of a receiving coil in the equipment to be wirelessly charged are obtained; the phase of the current input to each transmitting coil in the planar transmitting coil array is determined according to the position and the posture of the receiving coil in the equipment to be wirelessly charged, so that the charging efficiency and the receiving power of the planar transmitting coil array to the equipment to be wirelessly charged at various positions and postures are improved, the placing position of the equipment to be wirelessly charged is not limited and can be placed at will, the planar transmitting coil array occupies a small space, and the equipment to be wirelessly charged is easy to miniaturize and lighten and has strong expansibility.

The embodiment of the invention provides another wireless charging control method. Fig. 3 is a flowchart of another wireless charging control method according to an embodiment of the present invention. The present embodiment is optimized based on the above embodiments, and provides a method for determining a position and an attitude of a receiving coil in a device to be wirelessly charged, and accordingly, the method of the present embodiment includes:

and step 210, forming a single-direction magnetic field in three directions by the planar transmitting coil array in a time-sharing manner, wherein any two directions in the three directions are mutually vertical.

The planar transmitting coil array 10 can form a uniform magnetic field in three directions at different time by inputting corresponding currents to the transmitting coils 11 in the planar transmitting coil array. Illustratively, the three directions are a first direction Z, a second direction X and a third direction Y, respectively. Optionally, one of the three directions is perpendicular to the planar transmit coil array. Illustratively, the first direction Z is perpendicular to the planar transmit coil array. Fig. 4 is a schematic diagram of a planar transmitting coil array forming a unidirectional magnetic field in a first direction according to an embodiment of the present invention. Fig. 5 is a schematic diagram of a planar transmitting coil array forming a unidirectional magnetic field in a second direction according to an embodiment of the present invention. Fig. 6 is a schematic diagram of a planar transmitting coil array forming a unidirectional magnetic field in a third direction according to an embodiment of the present invention. As shown in fig. 4 to 6, unidirectional magnetic fields in three directions are sequentially formed.

And step 220, determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields.

In combination with fig. 4 to 6, the power input to each transmitting coil under the action of various unidirectional magnetic fields is sequentially obtained. The position and the posture of the receiving coil in the wireless charging device can comprise one or more of the coordinates of each point of the receiving coil, the size, the shape and the number of the receiving coil, the included angle between the plane where the receiving coil is located and the XY plane, the included angle between the plane where the receiving coil is located and the XZ plane, the included angle between the plane where the receiving coil is located and the YZ plane, the projected area, the size and the coordinates of the receiving coil along the direction Z on the XY plane, the projected area, the size, the coordinates and the shape of the receiving coil along the direction Y on the XZ plane, and the projected area, the size, the coordinates and the shapes of the receiving coil along the direction X on the YZ plane.

If the power input to each transmitting coil when forming a single-direction magnetic field is much greater than the power input to each transmitting coil when forming another two single-direction magnetic fields, the closer the plane on which the receiving coil is located is to the direction perpendicular to the single-direction magnetic field.

For example, fig. 7 is a schematic diagram of a receiving coil in a plane perpendicular to a first direction, when the receiving coil is under the action of a magnetic field in a single direction of the first direction Z, if the receiving coil is detected to be input into a planar transmitting coil array to be located at an ith position₁Line j (th)₁The power of a plurality of transmitting coils (not shown) in the region 101 centered on the transmitting coil 11-1 of the column is high, for example, higher than a preset threshold, and the power input to each transmitting coil is low under the action of the unidirectional magnetic field in the second direction X and the third direction Y, for example, lower than the preset threshold, which indicates that there is a receiving coil near to the direction perpendicular to the Z axis above the region 101.

For example, fig. 8 is a schematic diagram of a receiving coil in a plane perpendicular to a second direction, when the receiving coil is under the action of a single-direction magnetic field in the second direction X, if the receiving coil is detected to be input into a planar transmitting coil array to be located at an ith position₂Line j (th)₂The power of a plurality of transmitting coils (not shown) in the region 102 centered on the transmitting coil 11-2 of the column is high, for example, higher than a preset threshold, and the power input to each transmitting coil is low under the action of the unidirectional magnetic field in the first direction Z and the third direction Y, for example, lower than the preset threshold, which indicates that there is a receiving coil near to the direction perpendicular to the X axis above the region 102.

For example, fig. 9 is a schematic diagram of a receiving coil in a plane perpendicular to a third direction, when a single-direction magnetic field in the third direction Y is applied, if the single-direction magnetic field is detected to be inputted into a planar transmitting coil array to be located at the ith position₃Line j (th)₃Of a plurality of transmitting coils (not shown) within a region 103 centered by the transmitting coil 11-3 of the columnThe power is higher, for example, higher than a predetermined threshold, and the power input to each transmitting coil is very low under the action of the unidirectional magnetic field in the first direction Z and the second direction X, for example, lower than the predetermined threshold, which indicates that there is a receiving coil near to the direction perpendicular to the X axis above the region 103.

Optionally, fig. 10 is a flowchart of a method for refining step 220 in fig. 3, where determining the position and the posture of the receiving coil in the device to be wirelessly charged according to the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields includes:

step 221, determining, for each of the three directions, an effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in each direction according to the number, position and size of the transmitting coils of which the input power is higher than a preset threshold when the planar transmitting coil array forms the magnetic field in each single direction, where the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction is an area of a projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction.

Illustratively, as shown in fig. 4, when a single-direction magnetic field in the first direction Z is applied, according to the number, position and size of the transmitting coils with input power higher than a preset threshold, an effective area S1 of the receiving coil in the device to be wirelessly charged for receiving the first-direction Z magnetic field (i.e. the area of the projection of the receiving coil on the XY plane in the direction Z) and the position of the projection of the receiving coil on the XY plane in the direction Z are determined, and the area of the region 101 is slightly larger than the area of the projection of the receiving coil on the XY plane in the direction Z due to the divergence effect of magnetic lines of force. As shown in fig. 5, when a single-direction magnetic field in the second direction X is applied, an effective area S2 (i.e., an area of a projection of a receiving coil on a YZ plane along the direction X) of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the second direction X is determined according to the number, position and size of transmitting coils with input power higher than a preset threshold, and the area of the region 102 is slightly larger than the area of the projection of the receiving coil on the YZ plane along the direction X due to the divergence effect of magnetic lines of force. As shown in fig. 6, under the action of the unidirectional magnetic field in the third direction Y, according to the number, position and size of the transmitting coils with the input power higher than the preset threshold, the effective area S3 of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the third direction Y is determined, that is, the area of the projection of the receiving coil in the direction Y on the XZ plane, and the area of the region 103 is slightly larger than the area of the projection of the receiving coil in the direction Y on the XZ plane due to the divergence effect of the magnetic lines of force.

Step 222, determining the included angle between the receiving coil in the device to be wirelessly charged and the plane formed by any two directions of the three directions by comparing the power input to each transmitting coil when the planar transmitting coil array forms different magnetic fields in a single direction.

If the power input to each transmitting coil when two unidirectional magnetic fields are formed is much greater than the power input to each transmitting coil when another unidirectional magnetic field is formed, for example, the difference between the power input to each transmitting coil when two unidirectional magnetic fields are formed and the power input to each transmitting coil when another unidirectional magnetic field is formed is greater than a preset difference, the closer the plane where the receiving coil is located is to the plane formed by two directions corresponding to the two unidirectional magnetic fields; the included angle between the plane where the receiving coil is located and the other two planes can be determined according to the ratio of the power input to each transmitting coil when the two unidirectional magnetic fields are formed, wherein the other two planes are two planes formed by the two directions corresponding to the two unidirectional magnetic fields and the direction corresponding to the other unidirectional magnetic field.

Illustratively, fig. 11 is a schematic diagram of a single-direction magnetic field in a first direction formed by a planar transmitting coil array when a plane of a receiving coil provided by an embodiment of the invention is perpendicular to a YZ plane, fig. 12 is a schematic diagram of a single-direction magnetic field in a third direction formed by a planar transmitting coil array when a plane of a receiving coil provided by an embodiment of the invention is perpendicular to a YZ plane, fig. 13 is a schematic diagram of a single-direction magnetic field in a second direction formed by a planar transmitting coil array when a plane of a receiving coil provided by an embodiment of the invention is perpendicular to a YZ plane, and exemplarily, if the single-direction magnetic fields in the first direction Z and the third direction Y are respectively applied (as shown in fig. 11 and fig. 12), the power input to the transmitting coil is higher and close to, for example, higher than a second preset threshold, and the power input to the transmitting coil under the single-direction magnetic field in the second direction X (as shown in fig. 13) is very low, for example, if the angle is lower than a third preset threshold (the third preset threshold is far smaller than the second preset threshold), the second direction X is approximately parallel to the plane where the receiving coil is located, and both the included angle between the plane where the receiving coil is located and the XY plane and the included angle between the plane where the receiving coil is located and the XZ plane are approximately 45 degrees; if the power input to the transmitting coil under the action of the unidirectional magnetic field in the third direction Y is higher than the power input to the transmitting coil under the action of the unidirectional magnetic field in the first direction Z, the included angle between the plane where the receiving coil is located and the XZ plane is less than 45 degrees, and the included angle between the plane where the receiving coil is located and the XY plane is more than 45 degrees; if the power input to the transmitting coil under the action of the unidirectional magnetic field in the third direction Y is lower than the power input to the transmitting coil under the action of the unidirectional magnetic field in the first direction Z, the included angle between the plane where the receiving coil is located and the XZ plane is greater than 45 degrees, and the included angle between the plane where the receiving coil is located and the XY plane is less than 45 degrees; and the specific angle information can be determined by the power ratio input to the transmitting coil under the action of the two single-direction magnetic fields of the first direction Z and the third direction Y.

For example, if the power input to the transmitting coil is high and has a value close to, for example, higher than a second preset threshold value, and the power input to the transmitting coil is low, for example, lower than a third preset threshold value, under the action of the unidirectional magnetic fields in the first direction Z and the second direction X, respectively, the third direction Y is close to parallel to the plane where the receiving coil is located, and the included angle between the plane where the receiving coil is located and the XY plane and the included angle between the plane where the receiving coil is located and the YZ plane are both close to 45 °; if the power input to the transmitting coil under the action of the unidirectional magnetic field in the second direction X is higher than the power input to the transmitting coil under the action of the unidirectional magnetic field in the first direction Z, the included angle between the plane where the receiving coil is located and the YZ plane is less than 45 degrees, and the included angle between the plane where the receiving coil is located and the XY plane is more than 45 degrees; if the power input to the transmitting coil under the action of the unidirectional magnetic field in the second direction X is lower than the power input to the transmitting coil under the action of the unidirectional magnetic field in the first direction Z, the included angle between the plane where the receiving coil is located and the YZ plane is greater than 45 °, the included angle between the plane where the receiving coil is located and the XY plane is less than 45 °, and the specific angle information can be determined by the power ratio input to the transmitting coil under the action of the unidirectional magnetic fields in the first direction Z and the third direction Y.

For example, if the power input to the transmitting coil under the action of the single-direction magnetic fields in the second direction X and the third direction Y is higher and close to a value, for example, higher than a second preset threshold, and the power input to the transmitting coil under the action of the single-direction magnetic field in the first direction Z is very low, for example, lower than a third preset threshold, the first direction Z and the plane where the receiving coil is located are close to parallel, and the included angle between the plane where the receiving coil is located and the YZ plane and the included angle between the plane where the receiving coil is located and the XZ plane are both close to 45 °; if the power input to the transmitting coil under the action of the unidirectional magnetic field in the third direction Y is higher than the power input to the transmitting coil under the action of the unidirectional magnetic field in the second direction X, the included angle between the plane where the receiving coil is located and the XZ plane is less than 45 degrees, and the included angle between the plane where the receiving coil is located and the YZ plane is more than 45 degrees; if the power input to the transmitting coil under the action of the unidirectional magnetic field in the third direction Y is lower than the power input to the transmitting coil under the action of the unidirectional magnetic field in the second direction X, the included angle between the plane where the receiving coil is located and the XZ plane is greater than 45 degrees, and the included angle between the plane where the receiving coil is located and the YZ plane is less than 45 degrees; and the specific angle information can be determined by the power ratio input to the transmitting coil under the action of two single-direction magnetic fields of the second direction X and the third direction Y.

And 223, determining coordinates of the receiving coil in the device to be wirelessly charged in the three-dimensional space according to the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic fields in the three directions and the included angle between the receiving coil in the device to be wirelessly charged and a plane formed by any two directions in the three directions.

The effective area of the magnetic field in various directions in three directions is received by the receiving coil in the device to be wirelessly charged, and the included angle of the plane formed by the receiving coil in the device to be wirelessly charged and any two directions in the three directions is used for positioning various parameters such as the position, the size, the shape, the central coordinate and the like of the receiving coil in the device to be wirelessly charged. The required parameters can be calculated according to the needs, which is not limited in the embodiment of the present invention.

And step 230, determining the phase of the current input to each transmitting coil in the planar transmitting coil array according to the position and the posture of the receiving coil in the device to be wirelessly charged.

Different from the prior art, the embodiment can not only determine the spatial positions of a plurality of devices to be wirelessly charged by presetting the magnetic field and the power input to the transmitting coil by each inverter, but also determine the complex spatial attitude (the angle with the XY plane, the YZ plane, the XZ plane, etc.) of the devices to be wirelessly charged, that is, the position and angle information of the receiving coil in the space can be accurately detected, and then the optimal magnetic field shape and distribution synthesized by the planar transmitting coil array can be controlled according to the number, shape, position and attitude of the receiving coil.

The embodiment of the invention provides another wireless charging control method. Fig. 14 is a flowchart of another wireless charging control method according to an embodiment of the present invention. The present embodiment is optimized based on the above embodiments, and provides a method for determining a phase of a current of each transmitting coil, and accordingly, the method of the present embodiment includes:

and step 310, acquiring the position and the posture of a receiving coil in the device to be wirelessly charged.

Step 320, obtaining a relationship between a power component in each of three directions received by the receiving coil in the device to be wirelessly charged in the current position and posture and a phase of a current input to each transmitting coil in the planar transmitting coil array under the action of a magnetic field to be formed of the planar transmitting coil array according to the position and posture of the receiving coil in the device to be wirelessly charged, wherein any two directions of the three directions are perpendicular to each other.

The position and the posture of the receiving coil in the equipment to be wirelessly charged are different, and the relation between the power component in each of the three directions received by the receiving coil in the equipment to be wirelessly charged and the phase of the current input to each transmitting coil in the planar transmitting coil array is different. Illustratively, the three directions are a first direction Z, a second direction X and a third direction Y, respectively. Optionally, one of the three directions is perpendicular to the planar transmit coil array. Illustratively, the first direction Z is perpendicular to the planar transmit coil array.

By means of consulting data, formula derivation and the like, the relation between the power component in each of the three directions received by the receiving coil in the wireless charging device at any position and any posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the to-be-formed magnetic field of the planar transmitting coil array is obtained, and then the current position and posture related parameters of the receiving coil in the wireless charging device are substituted, so that the relation between the power component in each of the three directions received by the receiving coil in the wireless charging device at the current position and any posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the to-be-formed magnetic field of the planar transmitting coil array can be obtained.

Fig. 15 is a schematic structural diagram of a planar transmitting coil array according to an embodiment of the present invention, which illustrates, by taking the planar transmitting coil array as 2 rows and 2 columns as an example, under the action of a magnetic field to be formed of the planar transmitting coil array, and under a current position and posture of a receiving coil in a device to be wirelessly charged, a power component Pz ═ f in a first direction received by the receiving coil is received by the receiving coil in the device to be wirelessly charged₁(θ₁，θ₂，θ₃，θ₄) The power component Px ═ f in the second direction received by the receiving coil₂(θ₁，θ₂，θ₃，θ₄) The power component Py in the third direction received by the receiving coil is f₃(θ₁，θ₂，θ₃，θ₄) Wherein, theta₁，θ₂，θ₃，θ₄Phase of current input to 4 transmitting coils, I₁，I₂，I₃And I₄Amplitude of current input to 4 transmitting coilsThe instantaneous values of the currents input to the 4 transmitting coils are i₁＝I₁cos(wt+θ₁)，i₂＝I₂cos(wt+θ₂)，i₃＝I₃cos(wt+θ₃)，i₄＝I₄cos(wt+θ₄) Wherein w is the angular frequency.

Step 330, determining the phase of the current input to each transmitting coil in the planar transmitting coil array through an optimization algorithm based on the relationship between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array.

Wherein k can be obtained by genetic algorithm, optimization algorithm such as maximum value calculation, etc₁Pz+k₂Px+k₃When Py is maximum, the distribution and shape of the magnetic field formed by the planar transmitting coil array are optimized by combining the phases of the currents of the transmitting coils, and the charging efficiency and power are improved. Wherein k is₁、k₂And k₃As a weighting coefficient, k₁+k₂+k₃The weighting coefficient may be set to 1, and the embodiment of the present invention is not limited thereto. Exemplary, k₁、k₂And k₃May both be 1/3. The larger the weighting coefficient, the larger the corresponding power component. When the power component in the direction required to be corresponded is larger, the corresponding weighting coefficient can be increased, and when the power component in the direction required to be corresponded is smaller, the corresponding weighting coefficient can be decreased, for example, when the plane of the mobile phone is vertical to the plane transmitting coil array, k₁May be 0. The corresponding weighting coefficients can be determined according to the included angles between the plane where the receiving coil is located and three planes (XY plane, YZ plane and XZ plane) formed by three directions. For each plane of three planes formed by three directions, the larger the included angle between the plane where the receiving coil is located and the plane is, the smaller the weighting coefficient corresponding to the power component in the direction perpendicular to the plane is.

The technical scheme of the embodiment can calculate the receivable power distribution of the receiving coil in any area at different spatial positions under different magnetic field forming control (under different control variable values), so that the optimal control variable parameter which enables the load power and the efficiency to be highest under the current receiving coil position can be selected through the power distribution and the detected position of the receiving coil, the magnetic field forming control of gathering a spatial magnetic field at the spatial position of the receiving coil is realized, the effect of dynamically adjusting the magnetic field distribution according to the spatial position posture of the receiving coil in different charging application scenes of the system is realized, the magnetic field distribution and the shape generated by a transmitting end can be optimized through the calculation and the control of the magnetic field forming, and the efficiency and the power of the system are optimized.

The embodiment of the invention provides another wireless charging control method. Fig. 16 is a flowchart of another wireless charging control method according to an embodiment of the present invention. On the basis of the above embodiment, the method includes:

and step 410, forming a single-direction magnetic field in three directions by the planar transmitting coil array in a time-sharing manner, wherein any two directions in the three directions are mutually vertical.

And step 420, determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to each transmitting coil when the planar transmitting coil array forms various unidirectional magnetic fields.

And 430, acquiring the relationship between the magnetic induction component of the direction received by the receiving coil in the device to be wirelessly charged and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array according to the position and the posture of the receiving coil in the device to be wirelessly charged in each of the three directions.

The relation between the magnetic induction component in the direction and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the to-be-formed magnetic field of the planar transmitting coil array can be deduced through the biot-savart law, the ohm law, the Faraday electromagnetic induction law and the like, the relation between the magnetic induction component in the direction and the phase of the current input to each transmitting coil in the planar transmitting coil array can be received by the receiving coil in the to-be-wirelessly-charged equipment under any position and any posture, and then the relation between the magnetic induction component in the direction and the phase of the current input to each transmitting coil in the planar transmitting coil array can be obtained by substituting the relevant parameters of the current position and any posture of the receiving coil in the to-be-wirelessly-charged equipment, under the action of the to-be-formed magnetic field of the planar transmitting coil array.

Illustratively, as shown in fig. 15, taking a planar transmitting coil array as 2 rows and 2 columns as an example, four coils are square coils, and each coil has a side length (2N) and a number of turns (N)_tx) Are all the same. O is the origin of coordinates and may be the center of the planar transmit coil array. The space vector between the coil element and the space observation point A (x, y, z) is r, and the current element in the coil element is Idl. According to the Biao-Saval law, a cosine current i flows₀The magnetic induction intensity vector B generated by the coil with any shape at a certain point in the space₀Can be expressed as:

by the loop integration in equation 1, the magnetic induction component generated in the X direction by each transmitting coil can be obtained. Wherein u is₀Is a vacuum permeability, I₀Is the current amplitude, N_txIs the number of coil turns. The magnetic induction vector B generated by the planar transmitting coil array at the receiving coil can be decomposed into components in three directions of XYZ:

B＝B_xi+B_yj+B_zf (formula 2)

Formula 2 is a magnetic induction component generated by any one of the transmitting coils in the X direction, where i, j, f are unit vectors in the three XYZ directions. The magnetic induction intensity components of the four transmitting coils in the three directions of XYZ are respectively as follows:

wherein the content of the first and second substances,andrespectively the magnetic induction components generated by the four transmitting coils in the X direction in figure 14,the magnetic induction components generated by the four transmitting coils in the Y direction in figure 14,the magnetic induction components generated by the four transmitting coils in fig. 14 in the Z direction are obtained, for example, by biot-savart law:

where (x, y, z) is the position coordinate of observation point A, and k represents an adjacent lineHalf the turn pitch (assuming k all takes 0 for simplicity of analysis). By the same token, each coil generates a magnetic field induced intensity component in the Y directionAnd each coil generates a magnetic field induction intensity component in the Z directionThe expression (2) is not described in detail herein. The four sides of the square coil are two sides capable of generating magnetic fields in the X direction and the Y direction, and four sides capable of generating magnetic fields in the Z direction, so that the result of integration in the Z direction is more complicated. Illustratively, toFor example, the following steps are carried out:

wherein the content of the first and second substances,andthe parts in the braces of (1) are only related to the observation point position, the coil side length and the distance, and are not related to time. The current position coordinates (which may be coordinates of the center of the receiving coil) of the receiving coil in the device to be wirelessly charged are substituted into equations 3, 4, and 5 (which are equivalent to coordinates of the center of the receiving coil as the coordinates of the observation point a pair), so that the relationship between the magnetic induction intensity component of the direction received by the receiving coil in the device to be wirelessly charged and the phase of the current input to each transmitting coil in the planar transmitting coil array at the current position and posture under the action of the magnetic field to be formed of the planar transmitting coil array can be obtained.

And step 440, determining the relation between the power component of the direction received by the receiving coil in the wireless charging device and the phase of the current input to each transmitting coil in the planar transmitting coil array at the current position and the current input to each transmitting coil in the planar transmitting coil array at each of the three directions according to the relation between the magnetic induction component of the direction received by the receiving coil in the wireless charging device at the current position and the current input to each transmitting coil in the planar transmitting coil array at the current position and the current input to each of the planar transmitting coil array at the current position and the current input to the planar transmitting coil array at the current to be formed at the magnetic field of the planar transmitting coil array at the current position and the planar transmitting coil array at the current to the wireless charging device at the current to the wireless charging device at the current to the wireless charging device at the current to the wireless charging device at the current to the wireless charging device at the current to the planar transmitting coil array at the current to the wireless charging device at the current to the wireless charging device at the current to the planar transmitting coil array at the current to the wireless charging device at the current to the wireless charging device at the current to the planar transmitting coil array at the wireless charging device at the current to the wireless charging device at the current to the planar transmitting coil array at the current to the.

The effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction is the area of the projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction.

The magnetic field components of the planar transmitting coil array in three directions of XYZ at any position in space are associated with the amplitude and phase of each transmitting coil current. For wireless power transfer, the difference in the available power at different locations is generally of greater concern. According to the Faraday's law of electromagnetic induction, the distribution of the received power of the receiving coil at different spatial positions after the magnetic field is formed can be deduced. Assuming that the receiver coil is fully resonant, the following relationship is known from ohm's law and faraday's law of electromagnetic induction:

where p (t) denotes the instantaneous power taken by the receiver coil, v (t) denotes the instantaneous induced voltage on the receiver coil, R denotes the load of the receiver coil, and Φ (t) and b (t) denote the instantaneous values of magnetic flux and magnetic induction, respectively.

From equations 3 and 6, the relationship between the receivable power of the receiving coil (reasonably assuming uniform distribution of magnetic induction in the receiving coil) and the phase of the current in the transmitting coil, which is perpendicular to the X direction and has an effective area S on the YZ plane (which is equivalent to the area of the projection of the receiving coil on the YZ plane along the direction X), can be obtained:

wherein T is the period of cosine current, N_rxFor receiving the number of turns of the coil, h_xi(i is 1, …,4) is each constant term which is combined after differentiation of equation 3. Similarly, the relationship between the receivable powers Py and Pz on the planes perpendicular to the Y direction and the Z direction (i.e., the XZ and XY planes) and the phase of the current in the transmitting coil (equivalent to the phase of the inverter drive signal of the transmitting coil) when the desired magnetic field distribution is generated spatially can be obtained.

And step 450, determining the phase of the current input to each transmitting coil in the planar transmitting coil array through an optimization algorithm based on the relationship between the power component of each direction received by the receiving coil in the device to be wirelessly charged in the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array.

According to the technical scheme of the embodiment, an expression of a magnetic induction vector generated by a coil of any shape flowing through a high-frequency current i at a certain point in space can be obtained through the Biot-Saval law; further, an expression of the magnetic field induction intensity component generated by a certain transmitting unit coil in the XYZ direction in the space can be obtained; and deducing a receivable power distribution calculation formula of the receiving coil with any area at different spatial positions after the magnetic field is formed according to a Faraday's law of electromagnetic induction, and further obtaining the relation between the power component of the receiving coil in the wireless charging equipment in the current position and posture in each of the three directions received by the receiving coil in the wireless charging equipment and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array.

The embodiment of the invention controls the strength, direction and distribution of the magnetic field in the three-dimensional space in real time, namely the magnetic field forming, and controls the shape (including the magnetic field strength, direction and distribution) of the synthetic magnetic field generated by the planar transmitting coil array in real time according to different charging application scenes (such as the changed number of the charged loads, the load positions and postures) so as to ensure that the system obtains optimized charging efficiency and power under different charging application scenes and the dynamic change of multiple load positions and postures.

The embodiment of the invention provides a wireless charging transmitting device. Fig. 17 is a circuit connection diagram of a wireless charging transmitting device according to an embodiment of the present invention. This wireless emitter that charges includes: the planar transmitting coil array 10, the inverters 20 arranged in one-to-one correspondence with the transmitting coils 11, and the control module 30.

Wherein, the output end of the inverter 20 is electrically connected with the corresponding transmitting coil 11; the control module 20 is electrically connected to the inverter 20; the control module 30 is used for acquiring the position and the posture of the receiving coil 61 in the device to be wirelessly charged 60; the phase of the current input by each inverter 20 to the corresponding transmitting coil 11 is determined according to the position and posture of the receiving coil 61 in the device to be wirelessly charged 60.

The control module of the wireless charging transmitting device according to the embodiment of the present invention can execute the control method of wireless charging according to the above embodiment, so that the wireless charging transmitting device according to the embodiment of the present invention also has the beneficial effects described in the above embodiments, and further description thereof is omitted.

Optionally, on the basis of the foregoing embodiment, fig. 18 is a circuit connection schematic diagram of another wireless charging transmitting device according to an embodiment of the present invention, where the wireless charging transmitting device further includes: and the power acquisition modules 40 are arranged corresponding to the transmitting coils one by one, and the power acquisition modules 40 are used for acquiring the power input by the inverter 20 to the corresponding transmitting coils 11 when the planar transmitting coil array 10 forms a unidirectional magnetic field.

The control module 30 is electrically connected with the power acquisition module 40; the control module 30 is configured to control a current input by the inverter to the planar transmitting coil array, so that the entire planar transmitting coil array forms a single-direction magnetic field in three directions at different times, where any two directions of the three directions are perpendicular to each other; and determining the position and the posture of a receiving coil in the equipment to be wirelessly charged according to the power input to the corresponding transmitting coil by each inverter when the planar transmitting coil array forms various unidirectional magnetic fields.

Wherein the dc input of the inverter may be electrically connected to a power source. The power harvesting module 40 may be electrically connected to the dc input of the inverter. The power obtaining module 40 may calculate the power input by the inverter to the corresponding transmitting coil by obtaining the current and the voltage input by the dc input terminal of the inverter 30. The power harvesting module 40 may be electrically connected to the ac output of the inverter. The power obtaining module 40 may further calculate the power input by the inverter to the corresponding transmitting coil by obtaining the current and the voltage output by the ac output terminal of the inverter 30.

Optionally, on the basis of the foregoing embodiment, the control module 30 is configured to determine, for each of the three directions, an effective area of the receiving coil in the device to be wirelessly charged for receiving the directional magnetic field according to the number, the position, and the size of the transmitting coils, of which the input power is higher than a preset threshold when the planar transmitting coil array forms a magnetic field in each single direction, where the effective area of the receiving coil in the device to be wirelessly charged for receiving the directional magnetic field is an area of a projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction; determining the included angle of a receiving coil in the equipment to be wirelessly charged and a plane formed by any two directions in the three directions by comparing the power input to each transmitting coil when the planar transmitting coil array forms different unidirectional magnetic fields; and determining the coordinate of the receiving coil in the equipment to be wirelessly charged in the three-dimensional space according to the effective area of the receiving coil in the equipment to be wirelessly charged for receiving the magnetic fields in the three directions and the included angle of the plane formed by the receiving coil in the equipment to be wirelessly charged and any two directions in the three directions.

Optionally, on the basis of the foregoing embodiment, the control module 30 is configured to obtain, according to the position and the posture of the receiving coil in the device to be wirelessly charged, a relationship between a power component in each of three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and a phase of a current input to the corresponding transmitting coil by each inverter under the action of a magnetic field to be formed of the planar transmitting coil array; based on the relationship between the power component of each of the three directions received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to the corresponding transmitting coil by each inverter under the action of the magnetic field to be formed of the planar transmitting coil array, the phase of the current input to the corresponding transmitting coil by each inverter is determined through an optimization algorithm, wherein any two directions of the three directions are perpendicular to each other.

Optionally, on the basis of the foregoing embodiment, the control module 30 is configured to, for each of the three directions, obtain, according to the position and the posture of the receiving coil in the device to be wirelessly charged, a relationship between the magnetic induction component of the direction received by the receiving coil in the device to be wirelessly charged at the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array; for each direction of the three directions, according to the relation that under the action of the magnetic field to be formed of the planar transmitting coil array, the receiving coil in the equipment to be wirelessly charged receives the magnetic induction component of the direction under the current position and the current phase of each transmitting coil in the planar transmitting coil array, and the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction, determining the relationship between the power component of the direction received by the receiving coil in the device to be wirelessly charged in the current position and posture and the phase of the current input to each transmitting coil in the planar transmitting coil array under the action of the magnetic field to be formed of the planar transmitting coil array, the effective area of the receiving coil in the device to be wirelessly charged for receiving the magnetic field in the direction is the area of the projection of the receiving coil in the device to be wirelessly charged on a plane formed by the other two directions along the direction.

Optionally, on the basis of the above embodiment, with continuing reference to fig. 18, the wireless charging and transmitting device may further include an impedance transformation circuit 50, and the output end of the inverter 20 is electrically connected to the corresponding transmitting coil 11 through the impedance transformation circuit 50. The impedance transformation network 50 is used to ensure stable operation of the inverter under complex load conditions such as cross-coupling between the transmitting coils.

Optionally, on the basis of the above embodiment, fig. 19 is a schematic structural diagram of another planar transmitting coil array according to an embodiment of the present invention, in the planar transmitting coil array 10, two adjacent transmitting coils 11 in each row of transmitting coils are overlapped, and are arranged at intervals with two adjacent transmitting coils 11 of the same transmitting coil; two adjacent transmitting coils 11 in each row of transmitting coils are overlapped and arranged at intervals with two adjacent transmitting coils 11 of the same transmitting coil; diagonally adjacent transmit coils 11 overlap.

Optionally, the mean cross-coupling coefficient k of the transmitting coil_avgIs 0, wherein the average cross-coupling coefficient of the transmitting coilThe planar transmitting coil array is M rows and N columns, M and N are integers greater than or equal to 2, k₁For the coupling coefficient, k, of two adjacent transmitting coils in the row or column direction₂Is the coupling coefficient of two diagonally adjacent transmit coils.

Wherein the row direction may be parallel to the X direction. The column direction may be parallel to the Y direction. The overlapping distance d of two adjacent transmitting coils 11 in each row of transmitting coils is equal to the overlapping distance d of two adjacent transmitting coils 11 in each column of transmitting coils.

The method can be used for the complex cross coupling of the coil arrays under the condition of containing two types of cross coupling, can be used for the transmitting arrays containing different numbers of transmitting units, and is suitable for the coil arrays with any shapes and symmetrical structures.

Optionally, the transmitting coil is in a centrosymmetric pattern. The shape of the transmit coil may include square, rectangular, or circular.

Wherein, FIG. 20 shows the coupling coefficients of two adjacent transmitting coils along the row direction or the column direction according to the overlapping distanceGraph of the change of the distance. Fig. 21 is a graph illustrating a coupling coefficient of two diagonally adjacent transmitting coils as a function of an overlapping distance. FIG. 22 is a graph illustrating the variation of the average cross-coupling coefficient with the overlap distance. The horizontal axis represents the overlapping distance and the vertical axis represents k₁、k₂And k_avgAt least one of (a). As can be seen from fig. 19 and 20, the coupling coefficient k of two transmission coils adjacent in the row direction or the column direction₁The overlap distance d at 0 is not equal to the coupling coefficient k of two diagonally adjacent transmitting coils₂An overlap distance d of 0. By making the average cross-coupling k_avgWhen the coupling is 0 or close to 0, the cross coupling decoupling of the large-scale planar transmitting coil array can be realized, the complex analysis and calculation of the cross coupling between a single transmitting coil and a plurality of adjacent transmitting coils are not needed, the process of compensation calculation is simplified, and the method is suitable for the large-scale planar transmitting coil array. Wherein the cross-coupling coefficient k₁And k₂In relation to the mutual inductance between the coils,M₁is the mutual inductance of two transmitter coils that are adjacent in the row or column direction. M₂Is the mutual inductance of two diagonally adjacent transmit coils.Is the maximum value of the mutual inductance of two horizontally adjacent transmitting coils in the row direction or the column direction, i.e., the mutual inductance value when the two transmitting coils completely overlap.Is the maximum value of the mutual inductance of two diagonally adjacent transmitting coils, i.e. the mutual inductance value when the two transmitting coils are completely overlapped. Mutual inductance M between adjacent transmitting coils₁，M₂Can be expressed in terms of flux linkage and current for the transmit coil:

wherein, phi_i，jIs the flux linkage of the transmitting coil, phi, in the ith row and j column_i，j-1Is the flux linkage of the transmitting coil located in the ith row and the j-1 st column, phi_i，j+1Is the flux linkage of the transmitting coil located in the ith row and the (j + 1) th column, phi_i-1，jIs the flux linkage of the transmitting coil located in the i-1 th row and j column_i+1，jIs the flux linkage of the transmitting coil located in row i +1 and column j, phi_i-1，j-1Is the flux linkage of the transmitting coil located in the i-1 th row and the j-1 th column, phi_i+1，j-1Is the flux linkage of the transmitting coil located in the (i + 1) th row and the (j-1) th column, phi_i-1，j+1Is the flux linkage of the transmitting coil located in the (i-1) th row and the (j + 1) th column, phi_i+1，j+1Is the flux linkage of the transmitting coil positioned in the (i + 1) th row and the (j + 1) th column, which is formed by the number of turns N_txThe coil side length l and the coil pitch d. Phi (_i，j+1Can be expressed as:

B_z|_i,jis the flux density in the Z direction of the i row and j column transmitter coil, and the total flux density of the i row and j column transmitter coil can be expressed as:

wherein the content of the first and second substances,

wherein the content of the first and second substances,andrespectively, unit vectors in XYZ directions. A. the_i，j、B_i，j、C_i，jAnd D_i，jFour vertex positions of the rectangular transmitting coil of the ith row and the jth column respectively,current amplitude, theta, of rectangular transmitting coil in i-th row and j-th column_i，jIs the phase of the current of the rectangular transmitting coil in the ith row and the ith column, w is the angular frequency of the current of the rectangular transmitting coil in the ith row and the ith column,from an integration point P on the transmitting coil in the ith row and jth column_i，jVector to point P of the receiving coil, r_i，jIs a vectorI.e. the distance between two points, x_i，j、y_i，j、z_i，jThe coordinates of the integral points on the transmitting coil at the ith row and the jth column are the integral points of the intermediate variable, and the subsequent integral is accumulated.

The contact ratio d between adjacent coils determines the total flux density B of the transmitter coils in the planar transmitter coil array, and the flux density determines the total flux linkage phi of the transmitter coils in the planar transmitter coil array, and the flux linkage determines the mutual inductance between adjacent transmitter coils and the mutual inductance coefficient k₁And k₂Therefore, through the design of a d parameter, the average coupling of the planar transmitting coil array can be calculated to be close to 0 through the formula, namely, the cross coupling compensation among coils of a large-scale array is completed.

As shown in FIGS. 20, 21 and 22, it can be seen that k is fully compensated₁And k₂The required transmit coil overlap parameter d is not the same, and thus there is no shaping of the magnetic fieldThe line charging system compensates the cross coupling simply through overlapping, and the effect of compensating the two types of cross coupling at the same time cannot be achieved.

Fig. 23 is a schematic diagram of an optimized magnetic field distribution according to an embodiment of the present invention. Fig. 23 exemplarily shows a case of one device to be wirelessly charged 60 whose receiving coil 61 is circular. Fig. 24 is a schematic diagram of another optimized magnetic field distribution provided by the embodiment of the invention. Fig. 24 exemplarily shows a case where two devices to be wirelessly charged 60 are drawn, in which the receiving coil 61 of one device to be wirelessly charged is rectangular and the receiving coil 61 of the other device to be wirelessly charged is circular. Fig. 25 is a schematic diagram of another optimized magnetic field distribution provided by the embodiment of the invention. Fig. 25 exemplarily shows a case of four devices to be wirelessly charged, and the receiving coils 61 in the four devices to be wirelessly charged are circular.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.