US20200298714A1 - Wireless power antenna alignment adjustment system for vehicles - Google Patents

Abstract

Exemplary embodiments are directed to wireless charging and wireless power alignment of wireless power antennas associated with a vehicle. A wireless power charging apparatus includes an antenna including first and second orthogonal magnetic elements for detecting a horizontal component of a magnetic field generated from a second charging base antenna. A processor determines a directional vector between the antennas.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS
• This application is a continuation of U.S. patent application Ser. No. 16/427,139, filed May 30, 2019, which is a divisional application of U.S. patent application Ser. No. 13/082,229, filed Apr. 7, 2011 (now U.S. Pat. No. 10,343,535, issued Jul. 9, 2019), which claims the benefit of: U.S. Provisional Patent Application No. 61/322,196, filed on Apr. 8, 2010, U.S. Provisional Patent Application No. 61/322,214, filed on Apr. 8, 2010, and U.S. Provisional Patent Application No. 61/322,221, filed on Apr. 8, 2010, the disclosures of which are hereby incorporated by reference in their entireties.
BACKGROUNDField
• The present invention relates generally to wireless power transfer, and more specifically to devices, systems, and methods related to wireless power transfer to vehicles including batteries.
Background
• Approaches are being developed that use over-the-air or wireless power transmission between a transmitter and a receiver coupled to the electronic device to be charged. Such approaches generally fall into two categories. One is based on the coupling of plane wave radiation (also called far-field radiation) between a transmit antenna and a receive antenna on the device to be charged. The receive antenna collects the radiated power and rectifies it for charging the battery. This approach suffers from the fact that the power coupling falls off quickly with distance between the antennas, so charging over reasonable distances (e.g., less than 1 to 2 meters) becomes difficult. Additionally, since the transmitting system radiates plane waves, unintentional radiation can interfere with other systems if not properly controlled through filtering.
• Other approaches to wireless energy transmission techniques are based on inductive coupling between a transmit antenna embedded, for example, in a “charging” mat or surface and a receive antenna (plus a rectifying circuit) embedded in the electronic device to be charged. This approach has the disadvantage that the spacing between transmit and receive antennas must be very close (e.g., within millimeters). Though this approach does have the capability to simultaneously charge multiple devices in the same area, this area is typically very small and requires the user to accurately locate the devices to a specific area.
• Recently, vehicles have been introduced that include locomotion power from electricity and batteries to provide that electricity. Hybrid electric vehicles include on-board chargers that use power from vehicle braking and traditional motors to charge the vehicles. Vehicles that are solely electric must receive the electricity for charging the batteries from other sources. These electric vehicles are conventionally proposed to be charged through some type of wired alternating current (AC) such as household or commercial AC supply sources.
• Efficiency is of importance in a wireless power transfer system due to the losses occurring in the course of wireless transmission of power. Since wireless power transmission is often less efficient than wired transfer, efficiency is of an even greater concern in a wireless power transfer environment. As a result, there is a need for methods and apparatuses that provide wireless power to electric vehicles.
• A wireless charging system for electric vehicles may require transmit and receive antennas to be aligned within a certain degree. Adequate alignment of transmit and receive antennas within an electric vehicle wireless charging system may require proper positioning of an electric vehicle within a parking space, as well as fine tuning of antenna locations after the electric vehicle has been positioned within the parking space. There is a need for systems, devices, and methods related to an electric vehicle guidance system. Moreover, a need exists for devices, systems, and methods for fine alignment of antennas within an electric vehicle wireless charging system.
BRIEF DESCRIPTION OF THE DRAWINGS
• FIG. 1 is a hierarchical diagram illustrating how a wireless charging system can be used with a variety of replaceable batteries, each of which may be used in a variety of battery electric vehicles (BEV).
• FIG. 2 illustrates a wireless charging system for BEVs equipped with a wireless receiver while the BEV is parked near a wireless transmitter.
• FIG. 3 is a simplified block diagram of a wireless power charging system for a BEV.
• FIG. 4 is a more detailed block diagram of a wireless power charging system for a BEV illustrating communication links, guidance links, and alignment systems for the transmit antenna and receive antenna.
• FIG. 5 illustrates portions of a distribution system for low voltage power line communications that may be used in some embodiments of the invention.
• FIG. 6 shows a typical charging process of a Li-Ion battery which may be representative for charging a battery that may be used in a BEV.
• FIG. 7 illustrates examples of charging times for a battery that may be used in a BEV.
• FIG. 8 illustrates a frequency spectrum showing various frequencies that may be available for wireless charging of BEVs.
• FIG. 9 illustrates some possible frequencies and transmission distances that may be useful in wireless charging of BEVs.
• FIG. 10 illustrates transmit and receive loop antennas showing magnetic field strength relative to radius of the antennas.
• FIGS. 11A and 11B illustrate magnetic fields around a loop antenna and accompanying ferrite backing.
• FIG. 12 is a graph illustrating possible inductance values for various thicknesses of a ferrite backing as part of a wireless power antenna.
• FIG. 13 is a graph illustrating possible ferrite loss values for various thicknesses of a ferrite backing as part of a wireless power antenna.
• FIG. 14 shows a simplified diagram of a replaceable contactless battery disposed in a BEV.
• FIGS. 15A-15D are more detailed diagrams of a wireless power antenna and ferrite material placement relative to a battery.
• FIG. 16 is a simplified block diagram of portions of a battery system in a BEV equipped to wirelessly receive or transmit power.
• FIG. 17 illustrates a parking lot comprising a plurality of parking spaces and a charging base positioned within each parking space, in accordance with an embodiment of the present invention.
• FIG. 18 illustrates a pair of tire stops positioned within a parking space having a charging base positioned therein.
• FIG. 19 illustrates a BEV approaching a charging spot by using a guidance system, in accordance with an exemplary embodiment of the present invention.
• FIG. 20 depicts a block diagram of a portion of a guidance system, in accordance with an exemplary embodiment of the present invention.
• FIG. 21 illustrates a receive antenna, according to an exemplary embodiment of the present invention.
• FIG. 22 depicts another receive antenna, according to an exemplary embodiment of the present invention.
• FIG. 23 depicts a magnetic field generated by a transmit antenna of a charging base, in accordance with an exemplary embodiment of the present invention.
• FIG. 24 illustrates a side-view of a receive antenna and a charging base emitting a magnetic field, according to an exemplary embodiment of the present invention.
• FIG. 25 illustrates a top-down view of a receive antenna positioned within a magnetic field, according to an exemplary embodiment of the present invention.
• FIG. 26 illustrates four ultra wide band transponders for use within a triangulation process, according to an exemplary embodiment of the present invention.
• FIG. 27 is a flowchart illustrating a method, in accordance with an exemplary embodiment of the present invention.
• FIG. 28A illustrates various obstructions that may be encountered by a vehicle, which may require chassis clearance.
• FIGS. 28B and 28C illustrate a wireless power antenna located within a cavity of the underside of the chassis of a vehicle according to an exemplary embodiment of the present invention.
• FIG. 29A illustrates a tool which may be used to drill a hole in the ground, in which a charging base may be at least partially embedded according to an exemplary embodiment of the present invention.
• FIG. 29B illustrates several variants of embedding a charging base according to exemplary embodiments of the present invention.
• FIG. 29C illustrates a charging base located fully below the surface of the ground according to an exemplary embodiment of the present invention.
• FIG. 29D illustrates a cover with collar positioned over a charging base according to an exemplary embodiment of the present invention.
• FIG. 30A-30C illustrate a vehicle including a wireless power antenna positioned over a charging base including a wireless power antenna according to an exemplary embodiment of the present invention.
• FIGS. 31A-31G illustrate several variants for fine alignment adjustment according to various exemplary embodiments of the present invention.
• FIG. 32 illustrates possible locations in the X and Y direction that a mechanical device may adjust the position of a wireless power antenna according to an exemplary embodiment of the present invention.
• FIG. 33 illustrates a mechanical solution for a wireless power antenna that is located within a cavity of the underside of a vehicle according to an exemplary embodiment of the present invention.
• FIG. 34 illustrates another mechanical solution in which the wireless power antenna may be repositioned by a gear shaft operably coupled to a drive mechanism according to an exemplary embodiment of the present invention.
• FIG. 35A illustrates acharging base3520 experiencing heavy loading from the weight of a vehicle.
• FIGS. 35B and 35C illustrate a charging base including a reinforced cover according to an exemplary embodiment of the present invention.
• FIGS. 36A-36D illustrate a vehicle including a wireless power battery unit and the wireless power antenna configured to be repositioned in the X, Y, and Z directions in various combinations according to an exemplary embodiment of the present invention.
• FIG. 37A-37B illustrate a fine alignment adjustment system for a wireless power charging system for a vehicle according to an alternative exemplary embodiment of the present invention.
DETAILED DESCRIPTION
• The detailed description set forth below in connection with the appended drawings is intended as a description of exemplary embodiments of the present invention and is not intended to represent the only embodiments in which the present invention can be practiced. The term “exemplary” used throughout this description means “serving as an example, instance, or illustration,” and should not necessarily be construed as preferred or advantageous over other exemplary embodiments. The detailed description includes specific details for the purpose of providing a thorough understanding of the exemplary embodiments of the invention. It will be apparent to those skilled in the art that the exemplary embodiments of the invention may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the novelty of the exemplary embodiments presented herein.
• The term “wireless power” is used herein to mean any form of energy associated with electric fields, magnetic fields, electromagnetic fields, or otherwise that is transmitted from a transmitter to a receiver without the use of physical electromagnetic conductors.
• Moreover, the term “wireless charging” is used herein to mean providing wireless power to one or more electrochemical cells or systems including electrochemical cells for the purpose of recharging the electrochemical cells.
• The term “battery electric vehicle” (BEV) is used herein to mean a vehicle that includes, as part of its locomotion abilities, electrical power derived from one or more rechargeable electrochemical cells. As non-limiting examples, some BEVs may be hybrid electric vehicles that include on-board chargers that use power from vehicle deceleration and traditional motors to charge the vehicles, other BEVs may draw all locomotion ability from electrical power.
• Exemplary embodiments of the invention include methods and apparatuses that provide wireless power to electric vehicles.
• FIG. 1 is a hierarchical diagram illustrating how a wireless charging system can be used with a variety of replaceable batteries, each of which may be used in a variety of battery electric vehicles. Starting at the top, there may be many different models of BEVs. However, groups of vehicle models may be adapted to use only a limited number of replaceable battery units, such as Electric Vehicle (EV) battery type A, EV battery type B, and EV battery type C. As non-limiting examples, these different battery types may be configured based on needed capacity of the batteries, space required for the batteries, form factor for the batteries, size of wireless power antennas, and form factor for wireless power antennas. With the battery types limited, particularly, the size, placement, and form factor of the wireless antennas, a single wireless power delivery solution can be provided that will provide near-field wireless coupling to the various battery types.
• A battery integrated solution may ease adoption of wireless charging by EV manufacturers as this solution will have only minor impact on the electrical and mechanical design of an EV. Once widely accepted and standardized, only a relatively small number of EV battery types will need to be in circulation. Limiting the battery types will simplify customization of a wireless BEV charging solution as the number of battery types will be much smaller than the number of EV models that will be introduced into the market in the future.
• Furthermore, limited battery types may enable an existing EV model to be retrofitted for wireless charging. This retrofitting could be simply performed by replacing a conventional battery in an EV with a new battery that integrates wireless charging and that behaves as the original battery at all its other interfaces. In addition, wireless power battery types may be configured with a wireless and contactless charging interface to the rest of the vehicles allowing for easy battery swapping and non-contact recharging of batteries, which may include some advantages in regards to reliability, mechanical wear out and safety.
• FIG. 2 illustrates a wireless charging system for wireless charging enabledBEVs102 while the BEV is parked near a wireless charging base (CB)104. Twovehicles102 are illustrated in aparking area106 and parked overcorresponding CBs104. Alocal distribution center108 is connected to a power backbone and is configured to provide an Alternating Current (AC) or a Direct Current (DC) supply topower conversion systems112 as part of theCBs104. TheCBs104 also includewireless power antennas114 for generating or picking-up a near-field radiation. Each Vehicle includes batteries, a BEV power conversion and chargingsystem116 and awireless power antenna118 interacting with theCB antenna114 via the near-field. In some exemplary embodiments theBEV antenna118 may be aligned with theCB antenna114 and, therefore, disposed within the near-field region simply by the driver positioning the vehicle correctly relative to theCB antenna114. In other exemplary embodiments, the driver may be given visual feedback, auditory feedback, or combinations thereof to determine when the vehicle is properly placed for wireless power transfer. In yet other exemplary embodiments, the vehicle may be positioned by an autopilot system, which may move the vehicle back and forth (e.g., in zig-zag movements) until an alignment error has reached a tolerable value. This may be performed automatically and autonomously by the vehicle without or with only minimal driver intervention provided that the vehicle is equipped with a servo steering wheel, ultrasonic sensors all around and artificial intelligence. In still other exemplary embodiments, theBEV antenna118, theCB antenna114, or a combination thereof may include means for displacing and moving the antennas relative to each other to more accurately orient them and develop a more optimum near-field coupling therebetween.
• TheCBs104 may be located in a variety of locations. As non-limiting examples, some suitable locations are a parking area at a home of the vehicle owner, parking areas reserved for BEV wireless charging modeled after conventional petroleum-based filling stations, and parking lots at other locations such as shopping centers and places of employment.
• These BEV charging stations may provide numerous benefits, such as, for example:
• • Convenience: charging can be performed automatically virtually without driver intervention and manipulations.
  • Reliability: there may be no exposed electrical contacts and no mechanical wear out.
  • Safety: manipulations with cables and connectors may not be needed, and there may be no cables, plugs, or sockets that may be exposed to moisture and water in an outdoor environment.
  • Vandalism resistant: There may be no sockets, cables, and plugs visible nor accessible.
  • Availability: if BEVs will be used as distributed storage devices to stabilize the grid. Availability can be increased with a convenient docking-to-grid solution enabling Vehicle to Grid (V2G) capability.
  • Esthetical and non-impedimental: There may be no column loads and cables that may be impedimental for vehicles and/or pedestrians.
• As a further explanation of the V2G capability, the wireless power transmit and receive capabilities can be configured as reciprocal such that theCB104 transfers power to theBEV102 and the BEV transfers power to theCB104. This capability may be useful for power distribution stability by allowing BEVs to contribute power to the overall distribution system in a similar fashion to how solar-cell power systems may be connected to the power grid and supply excess power to the power grid.
• FIG. 3 is a simplified block diagram of a wireless power charging system for a BEV. Exemplary embodiments described herein use capacitively loaded wire loops (i.e., multi-turn coils) forming a resonant structure that is capable to efficiently couple energy from a primary structure (transmitter) to a secondary structure (receiver) via the magnetic near field if both primary and secondary are tuned to a common resonance frequency. The method is also known as “magnetic coupled resonance” and “resonant induction.”
• To enable wireless high power transfer, some exemplary embodiments may use a frequency in the range from 20-60 kHz. This low frequency coupling may allow highly efficient power conversion that can be achieved using state-of-the-art solid state devices. In addition, there may be less coexistence issues with radio systems compared to other bands.
• InFIG. 3, aconventional power supply132, which may be AC or DC, supplies power to the CBpower conversion module134 assuming energy transfer towards vehicle. The CBpower conversion module134 drives theCB antenna136 to emit a desired frequency signal. If theCB antenna136 andBEV antenna138 are tuned to substantially the same frequencies and are close enough to be within the near-field radiation from the transmit antenna, theCB antenna136 andBEV antenna138 couple such that power may be transferred to theBEV antenna138 and extracted in the BEVpower conversion module140. The BEVpower conversion module140 may then charge theBEV batteries142. Thepower supply132, CBpower conversion module134, andCB antenna136 make up theinfrastructure part144 of an overallwireless power system130, which may be stationary and located at a variety of locations as discussed above. TheBEV battery142, BEVpower conversion module140, andBEV antenna138 make up awireless power subsystem146 that is part of the vehicle or part of the battery pack.
• In operation, assuming energy transfer towards the vehicle or battery, input power is provided from thepower supply132 such that theCB antenna136 generates a radiated field for providing the energy transfer. TheBEV antenna138 couples to the radiated field and generates output power for storing or consumption by the vehicle. In exemplary embodiments, theCB antenna136 andBEV antenna138 are configured according to a mutual resonant relationship and when the resonant frequency of theBEV antenna138 and the resonant frequency of theCB antenna136 are very close, transmission losses between the CB and BEV wireless power subsystems are minimal when theBEV antenna138 is located in the “near-field” of theCB antenna136.
• As stated, an efficient energy transfer occurs by coupling a large portion of the energy in the near-field of a transmitting antenna to a receiving antenna rather than propagating most of the energy in an electromagnetic wave to the far field. When in this near-field a coupling mode may be developed between the transmit antenna and the receive antenna. The area around the antennas where this near-field coupling may occur is referred to herein as a near field coupling-mode region.
• The CB and the BEV power conversion module may both include an oscillator, a power amplifier, a filter, and a matching circuit for efficient coupling with the wireless power antenna. The oscillator is configured to generate a desired frequency, which may be adjusted in response to an adjustment signal. The oscillator signal may be amplified by the power amplifier with an amplification amount responsive to control signals. The filter and matching circuit may be included to filter out harmonics or other unwanted frequencies and match the impedance of the power conversion module to the wireless power antenna.
• The CB and BEV power conversion module may also include, a rectifier, and switching circuitry to generate a suitable power output to charge the battery.
• BEV and CB antennas used in exemplary embodiments may be configured as “loop” antennas, and more specifically, multi-turn loop antennas, which may also be referred to herein as a “magnetic” antenna. Loop (e.g., multi-turn loop) antennas may be configured to include an air core or a physical core such as a ferrite core. An air core loop antenna may allow the placement of other components within the core area. Physical core antennas may allow development of a stronger electromagnetic field.
• As stated, efficient transfer of energy between a transmitter and receiver occurs during matched or nearly matched resonance between a transmitter and a receiver. However, even when resonance between a transmitter and receiver are not matched, enemy may be transferred at a lower efficiency. Transfer of energy occurs by coupling energy from the near-field of the transmitting antenna to the receiving antenna residing in the neighborhood where this near-field is established rather than propagating the energy from the transmitting antenna into free space.
• The resonant frequency of the loop antennas is based on the inductance and capacitance. Inductance in a loop antenna is generally simply the inductance created by the loop, whereas, capacitance is generally added to the loop antenna's inductance to create a resonant structure at a desired resonant frequency. As a non-limiting example, a capacitor may be added in series with the antenna to create a resonant circuit that generates a magnetic field. Accordingly, for larger diameter loop antennas, the size of capacitance needed to induce resonance decreases as the diameter or inductance of the loop increases. It is further noted that inductance may also depend on a number of turns of a loop antenna. Furthermore, as the diameter of the loop antenna increases, the efficient energy transfer area of the near-field increases. Of course, other resonant circuits are possible. As another non-limiting example, a capacitor may be placed in parallel between the two terminals of the loop antenna (i.e., parallel resonant circuit).
• Exemplary embodiments of the invention include coupling power between two antennas that are in the near-fields of each other. As stated, the near-field is an area around the antenna in which electromagnetic fields (also referred to herein as near field radiation) exist but may not propagate or radiate away from the antenna. Near-field coupling-mode regions are typically confined to a volume that is near the physical volume of the antenna e.g. within a radius of one sixth of the wavelength. In the exemplary embodiments of the invention, magnetic type antennas such as single and multi-turn loop antennas are used for both transmitting and receiving since magnetic near-field amplitudes in practical embodiments tend to be higher for magnetic type antennas in comparison to the electric near-fields of an electric-type antenna (e.g., a small dipole). This allows for potentially higher coupling between the pair. Another reason for relying on a substantially magnetic field is its low interaction with non-conductive dielectric materials in the environment and the safety issue. Electric antennas for wireless high power transmission may involve extremely high voltages. Furthermore, “electric” antennas (e.g., dipoles and monopoles) or a combination of magnetic and electric antennas is also contemplated.
• FIG. 4 is a more detailed block diagram of a generic wirelesspower charging system150 for a BEV illustratingcommunication links152, guidance links154, andalignment systems156 for theCB antenna158 andBEV antenna160. As with the exemplary embodiment ofFIG. 3 and assuming energy flow towards BEV, inFIG. 4 the CBpower conversion unit162 receives AC or DC power from theCB power interface164 and excites theCB antenna158 at or near its resonant frequency. TheBEV antenna160, when in the near field coupling-mode region, receives energy from the near field coupling mode region to oscillate at or near the resonant frequency. The BEVpower conversion unit166 converts the oscillating signal from the receiveantenna160 to a power signal suitable for charging the battery.
• The generic system may also include aCB communication unit168 and aBEV communication unit170, respectively. TheCB communication unit168 may include a communication interface to other systems (not shown) such as, for example, a computer, and a power distribution center. TheBEV communication unit170 may include a communication interface to other systems (not shown) such as, for example, an on-board computer on the vehicle, other battery charging controller, other electronic systems within the vehicles, and remote electronic systems.
• The CB and BEV communication units may include subsystems or functions for specific application with separate communication channels therefore. These communications channels may be separate physical channels or just separate logical channels. As non-limiting examples, aCB alignment unit172 may communicate with aBEV alignment unit174 to provide a feedback mechanism for more closely aligning theCB antenna158 andBEV antenna160, either autonomously or with operator assistance. Similarly, aCB guide unit176 may communicate with aBEV guide unit178 to provide a feedback mechanism to guide an operator in aligning theCB antenna158 andBEV antenna160. In addition, there may be a separate general-purpose communication channel152 includingCB communication unit180 andBEV communication unit182 for communicating other information between the CB and the BEV. This information may include information about EV characteristics, battery characteristics, charging status, and power capabilities of both the CB and the BEV, as well as maintenance and diagnostic data. These communication channels may be separate physical communication channels such as, for example, Bluetooth, zigbee, cellular, etc.
• In addition, some communication may be performed via the wireless power link without using specific communications antennas. In other words the communications antenna and the wireless power antenna are the same. Thus, some exemplary embodiments of the CB may include a controller (not shown) for enabling keying type protocol on the wireless power path. By keying the transmit power level (Amplitude Shift Keying) at predefined intervals with a predefined protocol, the receiver can detect a serial communication from the transmitter. The CBpower conversion module162 may include a load sensing circuit (not shown) for detecting the presence or absence of active BEV receivers in the vicinity of the near-field generated by theCB antenna158. By way of example, a load sensing circuit monitors the current flowing to the power amplifier, which is affected by the presence or absence of active receivers in the vicinity of the near-field generated byCB antenna158. Detection of changes to the loading on the power amplifier may be monitored by the controller for use in determining whether to enable the oscillator for transmitting energy, to communicate with an active receiver, or a combination thereof.
• BEV circuitry may include switching circuitry (not shown) for connecting and disconnecting theBEV antenna160 to the BEVpower conversion unit166. Disconnecting the BEV antenna not only suspends charging, but also changes the “load” as “seen” by the CB transmitter, which can be used to “cloak” the BEV receiver from the transmitter. If the CB transmitter includes the load sensing circuit, it can detect these load changes. Accordingly, the CB has a mechanism for determining when BEV receivers are present in the CB antenna's near-field.
• FIG. 5 illustrates portions of apower distribution system200 enabled for low voltage power line communications that may be used in some embodiments of the invention. The CB may be linked to a power line communication system through apower distribution182 to provide Power Line Communications (PLC) via its external CB-COM interface that supports the relevant PLC standard. The PLC node communicating with the external CB-COM interface may be integrated in an electricity (energy)meter184. In many countries and particularly in Europe, PLC may play an important role as part of an Automated Metering Infrastructure (AMI) and for Smart Grid applications. An AMI may include elements such as: Automatic Meter Reading (AMR) of electricity, gas, water, heat; energy and water use profiling; demand forecasting; and demand side management. Furthermore, with exemplary embodiments of the invention, AMI may include management of V2G for BEVs. As a non-limiting example, an in-house PLC system may be configured as part of a home area network for home automation applications. Some non-limiting frequencies for PLC nodes may be in Band B (95-125 kHz) or Band C (125-140 kHz).
• Wireless power charging in BEVs may be adapted to many different battery capabilities and technologies. For some exemplary embodiments, information about the battery capabilities and technologies may be useful in determining charging characteristics and charging profiles. Some non-limiting examples of battery capabilities are; battery charge, battery energy, battery voltage, battery capacity, battery charge current, battery charge power, and charging capabilities.
• Many different batteries and electrochemical cell technologies may be used in BEVs. Some non-limiting examples of suitable electrochemical cells are, Lithium Ion, Lithium polymer, and lead-acid type batteries. Li-Ion cells may provide high energy density due to a high battery pack voltage (e.g., 400 V). Lead acid cells may provide high energy density due to high battery capacity (e.g. 180 Ah). Currently, there has been a trend to Li-Ion cells because they provide a high energy-density and high power-density. However, exemplary embodiments of the present invention may be used in other rechargeable electrochemical or electromechanical (e.g. flywheel) cells and even future rechargeable electrochemical or electromechanical cells.
• FIG. 6 illustrates a typical charging process of a Li-Ion battery that may be representative for a battery that may be used in a BEV. The graph illustrates charge current versus charge time, cell voltage, and charge capacity. During a first phase, substantially constant current may be applied to the battery as the charge capacity is increasing at a relatively high rate. During a second phase, a substantially constant voltage may be applied as the charge capacity nears full charge.FIG. 6 illustrates an example charge scenario for charging a battery at its rated capacity (often referred to as 1 C). Other fast charge scenarios may be used, such as rates faster than 1 C (e.g., 2 C, 3 C, etc).
• FIG. 7 illustrates examples of charging times for a battery that may be used in a BEV. A stored energy of 25 kWh is shown as one example of a charge capacity for a typical battery in a BEV. Depending on the power available, the charge time to full capacity may be as low as about 1.25 hours with a high delivery capability of about 21 kW, about 3.5 hours for an accelerated delivery capability of about 7 kW, about 8.5 hours for a normal delivery capability of about 3 kW, and about 12.5 hours for a domestic delivery capability of about 2 kW.FIG. 7 is intended as an example only to show ranges of charging times and how they may be adapted to wireless power delivery capabilities.
• FIG. 8 illustrates a frequency spectrum showing various frequencies that may be available and suitable for wireless charging of BEVs. Some potential frequency ranges for wireless high power transfer to BEVs include: VLF in a 3 kHz to 30 kHz band, lower LF in a 30 kHz to 150 kHz band (for ISM-like applications) with some exclusions, HF 6.78 MHz (ITU-R ISM-Band 6.765-6.795 MHz), HF 13.56 MHz (ITU-R ISM-Band 13.553-13.567), and HF 27.12 MHz (ITU-R ISM-Band 26.957-27.283).
• FIG. 9 illustrates some possible frequencies and transmission distances that may be useful in wireless charging of BEVs. Some example transmission distances that may be useful for BEV wireless charging are about 30 mm, about 75 mm, and about 150 mm. Some exemplary frequencies may be about 27 kHz in the VLF band and about 135 kHz in the LF band.
• Many consideration must be taken into account on determining a suitable frequency beyond just the resonance characteristics and coupling-mode region of the receive and transmit antennas. Wireless power frequencies may interfere with frequencies used for other applications. As non-limiting examples, there may be VLF/LF coexistence issues with power line frequencies, audible frequencies and communication frequencies. Some non-limiting examples where coexistence may be an issue for VLF and LF are: frequencies for radio clocks, frequencies for LW AM broadcasts and other radio services, cross-coupling to ISDN/ADSL and ISDN/xDSL communication channels, electronic vehicle immobilization systems, RFID (Radio Frequency Identification) systems, EAS (Electronic Article Surveillance) systems, on-site paging, Low Voltage PLC systems, medical implants (cardiac pacemakers, etc.), audio systems and acoustic emission perceivable by humans and animals.
• Some non-limiting examples where coexistence may be an issue for HF frequencies are industrial, scientific and medical (ISM) radio bands, such as: 6.78 MHz for remote control applications and RFID in FDX or HDX mode with continuous energy transfer; 13.56 MHz for RFID in FDX or HDX mode with continuous energy transfer as well as portable device wireless power; and 27.12 MHz for Railway applications (Eurobalise 27.095 MHz), Citizen band radio, and remote control (e.g., models, toys, garage door, computer mouse, etc.).
• FIG. 10 illustrates transmit and receive loop antennas showing field strength relative to radius of the antennas. Antenna structures with a radius larger or smaller than an optimum radius generate higher field strength in the vicinity of the antenna for a given transferred power. H-field strength increases linearly with increasing power transfer distance and for a given transferred power provided that the antenna radius is proportionally increased thus always optimum.
• FIGS. 11A and 11B illustrate electromagnetic fields around a loop antenna and accompanying ferrite backing. A transmit antenna includes awire loop1130, which may comprise a multi-tum wire loop, and aferrite backing1120 and a receive antenna includes awire loop1180 and aferrite backing1170. At VLF and LF frequencies, a ferrite backing may be useful for intensifying themagnetic field1140 in the space between the antennas thus for enhanced coupling. As shown inFIG. 11A, if the separation between the antenna coils1130 and1180 and theferrite backings1120 and1170 is reduced to 0 cm, the coupling coefficient between the transmit antenna and receive antenna decreases slightly. Consequently, there may be an ideal separation between the antenna coils1130 and1180 and theferrite backings1120 and1170.FIG. 11B, illustrates a small separation between the antenna coils1130 and1180 and theferrite backings1120 and1170. In addition, a reduced spacing is illustrated between the antenna coils1130 and1180 and theirrespective ferrite backings1120 and1170. For smaller transmission distances (e.g., 3 cm), the performance gain of ferrite backing may be less because the coupling coefficient is very high already.
• FIG. 12 is a graph illustrating possible inductance values for various thicknesses of a ferrite backing as part of a wireless power antenna. In the exemplary embodiment forFIG. 12 the ferrite backing is about 0.5 cm from the coil. It can be seen that inductance does not change considerably (i.e., about 5%) with a thickness change for the ferrite backing between about 5 mm and 10 mm.
• FIG. 13 is a graph illustrating possible ferrite loss values for various thicknesses of a ferrite backing as part of a wireless power antenna. In the exemplary embodiment forFIG. 12 the ferrite backing is about 0.5 cm from the coil. It can be seen that losses increase rapidly (i.e., about 185%) with a thickness change for the ferrite backing between about 5 mm and 10 mm. The resulting loss may decrease the Q factor. As a result, a trade-off may need to be made between performance relative to considerations such as volume, weight, and cost.
• FIG. 14 shows a simplified diagram of a replaceable battery disposed in a battery electric vehicle (BEV)220. In this exemplary embodiment, The BEV side of the wireless energy transfer system is an integral part of thevehicles battery unit222. Present movements towards standardized EV batteries may enable easy and fast replacement in so-called battery swapping (or switching) stations. As shown inFIG. 14, the shape and placement of thebattery unit222 are illustrative of one exemplary embodiment. Many other configurations are possible. As a non-limiting example, the bulk of the battery may be below the rear seat.
• However, the low battery position may be useful for a battery unit that integrates a wireless power interface and that can receive power from a charger embedded in the ground. Fast battery replacement will likely continue to coexist with corded and wireless BEV charging and will not totally supersede any alternative charging solution (e.g., wireless charging). In battery swapping stations motorists can get a fully recharged battery perhaps in less than a minute (faster than refueling in a conventional gas stations), while corded and wireless charging will be the solution at home and for opportunistic charging in public and private parking lots to increase vehicles autonomy time.
• Due to high capital expenditure issues, deployments of battery swapping stations may be mainly along major transport axis and in larger cities. Another strong argument for a decentralized and in particular for a convenient charging and docking-to-grid solution is the availability of BEVs for vehicle-to-grid use as explained above.
• InFIG. 14, the EVreplaceable battery unit222 is accommodated in a specially designedbattery compartment224. Thebattery unit222 also provides awireless power interface226, which may integrate the entire BEV sided wireless power subsystem comprising the resonant magnetic antenna, power conversion and other control and communications functions needed for efficient and safe wireless energy transfer between a ground embedded charging base (CB) and the Electric Vehicle (EV) battery.
• It may be useful for the BEV antenna to be integrated flush with a bottom side of battery unit222 (vehicle body) so that there are no protrusive parts and so that the specified ground-to-vehicle body clearance can be maintained. This configuration may require some room in the battery unit dedicated to the wireless power subsystem.
• In some exemplary embodiments, the CB antenna and the BEV antenna are fixed in position and the antennas are brought within a near-field coupling region by overall placement of the BEV relative to the CB. However, in order to perform energy transfer rapidly, efficiently, and safely, the distance between the charging base antenna and the BEV antenna may need to be reduced to improve magnetic coupling. Thus, in some exemplary embodiments, the CB antenna and the BEV antenna may be deployable moveable to bring them into better alignment.
• Also illustrated inFIG. 14 is abattery unit222 that is completely sealed and that provides contactless power andcommunications interfaces226,228. A conceptual block diagram of this exemplary embodiment is illustrated inFIG. 16.
• FIGS. 15A-15D are more detailed diagrams of a loop antenna and ferrite material placement relative to a battery. In these exemplary embodiments, the battery unit includes a non-deployable BEV antenna module as part of the wireless power interface. To prevent magnetic fields from penetrating into thebattery unit230 and into the interior of the vehicle, there may be a conductive shielding232 (e.g., a copper sheet) between the battery unit and the vehicle. Furthermore, a non-conductive (e.g., plastic)layer234 to may be used protect theconductive shield232, thecoil236, and theferrite material238 from all sorts of environmental impacts (e.g., mechanical damage, oxidization, etc.).
• FIG. 15A shows a fully ferrite embeddedantenna coil236. Thecoil236 itself may be made, for example only, of stranded Litz wire.FIG. 15B shows an optimally dimensioned ferrite plate (i.e., ferrite backing) to enhance coupling and to reduce eddy currents (heat dissipation) in theconductive shield232. The coil may be fully embedded in a non-conducting non-magnetic (e.g. plastic)material234. There may be a separation between coil and ferrite plate in general, as the result of an optimum trade-off between magnetic coupling and ferrite hysteresis losses.
• FIG. 15C illustrates another exemplary embodiment wherein the coil may be movable in a lateral (“x”) direction.FIG. 15D illustrates another exemplary embodiment wherein only the antenna (coil) module is deployed in a downward direction. The design of this deployable module is similar to that ofFIG. 15B except there is no conductive shielding at the antenna module. The conductive shield stays with the battery unit. The physical separation of the antenna module from the battery unit will have a positive effect on the antennas performance. However, the solution may be more fault-prone in considering the harsh environmental conditions below a vehicles body (pollution, icing, water).
• FIG. 16 is a simplified block diagram of portions of abattery system250 in a BEV equipped to receive wireless power. This exemplary embodiment illustrates wireless power interfaces that may be used between anEV system252, abattery subsystem254, and the wireless charging interface to a CB (not shown). Thebattery subsystem254 provides for both energy transfer and communications with a wireless interface between the EV and thebattery subsystem254, which enables a completely contactless, closed, and sealedbattery subsystem254. The interface may include all the required functionality for bidirectional (two-way) wireless energy transfer, power conversion, control, battery management, and communications.
• The charger tobattery communication interface256 andwireless power interface258 has been explained above and it shall be noted again thatFIG. 16 shows a generic concept. In specific embodiments, thewireless power antenna260 and the communications antenna may be combined to a single antenna. This may also apply to the battery-to-EV wireless interface262. The power conversion (LF/DC)unit264 converts wireless power received from the CB to a DC signal to charge theEV battery266. A power conversion (DC/LF)268 supplies power from theEV battery266 to awireless power interface270 between thebattery subsystem254 and theEV system252. Abattery management unit272 may be included to manage EV battery charging, control of the power conversion units (LF/DC and DC/LF), as well as a wireless communication interface.
• In theEV system252, awireless antenna274 receives power fromantenna276 and a LF/DCpower conversion unit278 may supply a DC signal to asuper capacitor buffer280. In some exemplary embodiments LF/DCpower conversion unit278 may supply a DC signal directly to the EVpower supply interface282. In other exemplary embodiments, a contactless interface may not be capable of providing the high battery peak current required by the vehicles drive train e.g., during acceleration. To decrease the source resistance and thus the peak power capability of the EVs energy storage system as “seen” at the EV power supply terminals, an additional super capacitor buffer may be employed. An EV electricalsystem control unit284 may be included to manage control of the power conversion unit (LF/DC)278, charging of thesuper capacitor buffer280, as well as awireless communication interface262 to the EV and thebattery subsystem254. Furthermore, it is noted that V2G capabilities, as described above, may apply to the concepts described with reference to, and illustrated in,FIG. 16.
• Exemplary embodiments of the present invention, as described below, are directed toward alignment of wireless power antennas as part of a wireless charging system for BEVs (also referred to herein as a “BEV wireless charging system”). As will be appreciated by a person having ordinary skill in the art, adequate antenna alignment may enable two-way (bidirectional) energy transfer between a charging base, positioned within a parking space, and a BEV subsystem, in a quick, efficient, and safe manner. According to one or more exemplary embodiments, a vehicle guidance system may provide coarse alignment for adequately positioning a BEV within a parking space to enable a CB antenna and a BEV antenna to be aligned within a specific error radius. Furthermore, according to one or more other exemplary embodiments, an antenna alignment system may be configured to mechanically adjust a position of a CB antenna, a BEV antenna, or both in one or more directions to enable for fine alignment of antennas within a BEV wireless charging system.
• FIG. 17 illustrates aparking lot1701 comprising a plurality ofparking spaces1707. It is noted that a “parking space” may also be referred to herein as a “parking area.” To enhance the efficiency of a vehicle wireless charging system, aBEV1705 may be aligned along an X direction (depicted byarrow1702 inFIG. 17) and a Y direction (depicted byarrow1703 inFIG. 17) to enable a wirelesspower vehicle base1704 withinBEV1705 to be adequately aligned with a wirelesspower charging base1706 within an associatedparking space1707. Althoughparking spaces1707 inFIG. 17 are illustrated as having asingle charging base1706, embodiments of the present invention are not so limited. Rather, it is contemplated that parking spaces may have one or more charging bases. Furthermore, embodiments of the present invention are applicable to parking lots having one or more parking spaces, wherein at least one parking space within a parking lot may comprise a charging base.
• FIG. 18 illustrates a plurality of tire stops1801 (also commonly referred to as “wheel stops” or “garage stops”) that may be used to assist a vehicle operator in positioning a BEV in aparking space1803 to enable a vehicle base (e.g.,vehicle base1704; seeFIG. 17) within the BEV to be aligned with acharging base1802. Furthermore, according to one or more exemplary embodiments, global navigation systems (e.g., GPS, Galileo), augmentation systems e.g., satellite based or ground based), or any combination thereof, may be used for assisting a BEV operator in positioning a BEV to enable a an antenna within the BEV to be adequately aligned with a charging antenna within a charging base (e.g., charging base1706).
• Furthermore, a BEV guidance system, according to other various exemplary embodiments of the present invention, may be utilized for positioning a BEV within a parking space to adequately align associated antennas.FIG. 19 illustrates aguidance system1901 comprising at least onecharging base1902 positioned within aparking space1903 and at least onevehicle base1905 integrated within aBEV1904. Furthermore, analignment system1908 may be integrated withinBEV1904 and may be operably coupled tovehicle base1905. It is noted that chargingbase1902 may include one or more antennas (not shown inFIG. 19; e.g., seeFIGS. 21 and 22) andvehicle base1905 may include one or more antennas (also not shown inFIG. 19; e.g., seeFIGS. 21 and 22). As described more fully below, a vehicle guidance system may be based on radio positioning and direction finding principles and/or on optical, quasi-optical and/or ultrasonic sensing methods.
• FIG. 20 illustrates a block diagram of a portion of aguidance system2001, in accordance with an exemplary embodiment of the present invention. More specifically, with reference toFIGS. 19 and 20, portion ofguidance system2001 may comprisevehicle base1905 operably coupled toalignment system1908. As illustrated,alignment system1908 may include at least oneprocessor2002 and may be configured to visually convey information to a BEV operator, audibly convey information to a BEV operator, or both, to assist the BEV operator to properly position an associated BEV within a parking space to enable for associated antennas to be aligned within a specific error radius. Furthermore,alignment system1908 may comprise an autopilot system, or may be configured to control an autopilot system, which is configured to automatically position an associated BEV within a parking space.
• FIGS. 21 and 22 respectively illustrate examples ofantennas2101 and2201, which may be used in implementation of guidance system1901 (seeFIG. 19). With reference toFIG. 21,antenna2101 comprises aferrite disk2102 coupled to anantenna2103.Antenna2101 may further comprise an x-antennamagnetic element2104 and an orthogonally oriented y-antennamagnetic element2105. With reference toFIG. 22,antenna2201 may comprise a ferrite rod x-antennamagnetic element2202 and a ferrite rod y-antennamagnetic element2203 that is orthogonal to ferrite rod x-antennamagnetic element2202. Moreover, it is noted that charging base1902 (seeFIG. 19) may include one or more known and suitable antennas. For example only, chargingbase1902 may include one or more antennas configured for generating a polarized magnet field. Furthermore, in another example, chargingbase1902 may include one or more antennas configured for generating a rotating (i.e., circular polarized) magnet field.
• By way of example only, chargingbase1902 may include at least one antenna having orthogonal x and y magnetic elements, similar toantenna2101 orantenna2201, as illustrated inFIGS. 21 and 22, respectively. It is noted that, according to one exemplary embodiment, the antennas configured for wireless power transfer may also be configured for use in theguidance system1901 e.g. for positioning and direction finding purposes. According to another exemplary embodiment, chargingbase1902 may include one or more antennas for use withinguidance system1901 and one or more separate antennas for wireless power transmission.
• With reference again toFIG. 19, and, as will be described more fully below, during a contemplated operation ofBEV guidance system1901, chargingbase1902 may be configured to convey, via one or more transmitters, aguidance signal1906, which may be received byvehicle base1905. Upon receipt ofguidance signal1906,vehicle base1905, and, more specifically,alignment system1908 may be configured to utilize information derived fromguidance signal1906 to assist a driver ofBEV1904, a controller of alignment system1908 (e.g., an autopilot system controller), or a combination thereof, to directBEV1904 in an X direction (seearrow1702 inFIG. 17), a Y direction (seearrow1703 inFIG. 17), or a combination thereof, to enable at least one wireless power antenna ofvehicle base1905 to be adequately aligned with at least one wireless power antenna of chargingbase1902. More specifically,alignment system1908 may be configured to utilize information derived fromguidance signal1906 to enable at least wireless power antenna ofvehicle base1905 to be adequately aligned with at least one wireless power antenna of chargingbase1902.
• Various contemplated methods of implementingguidance system1901 for positioning a BEV within a parking space will now be described. According to one exemplary embodiment, chargingbase1902 may be configured to generate one or more magnetic fields, which may be detected byvehicle base1905 and used for determining a direction fromvehicle base1905 to chargingbase1902. More specifically, in this embodiment,guidance signal1906 may comprise one or more very low frequency (VLF) (i.e., 3-30 KHz) or low frequency (LF) (i.e., 30-300 KHz) magnetic field patterns, which may be generated by chargingbase1902 and received by one or more VLF or LF receive antennas ofvehicle base1905, wherein the one or more receive antennas include orthogonal x and y components (e.g.,antenna2101 or antenna2201). Furthermore, a direction of a horizontal field component of the magnetic field, which points toward chargingbase1905, may be determined from signals received by the one or more receive antennas ofvehicle base1905. Stated another way, a horizontal component of a magnetic field generated from at least one antenna within chargingbase1905 may be detected by at least one antenna withvehicle base1905, wherein the horizontal component is directed toward the at least one antenna withvehicle base1905.
• FIG. 23 illustrates a side view of amagnetic field2301 generated by chargingbase1902. With reference toFIGS. 19 and 23, chargingbase1902 may generatemagnetic field2301 having ahorizontal field component2302, which may be received by one or more antennas ofvehicle base1905. It is noted thatreference numeral2303 depicts an offset between charging base1902 andvehicle base1905.FIG. 24 illustrates a side view of an antenna2402 (i.e., an antenna of vehicle base1905) and chargingbase1902 emittingmagnetic field2301.FIG. 25 illustrates a top-down view ofantenna2402 positioned withinmagnetic field2301. With reference toFIGS. 24 and 25, the direction of theflux lines2401 ofmagnetic field2301 adjacent antenna2402 (e.g.,antenna2101 or antenna2201) of vehicle base1905 (seeFIG. 19) may be oriented along a horizontal field component ofmagnetic field2301 and in a direction toward chargingbase1902. Stated another way, the orientation offlux lines2401adjacent antenna2402 may be defined by avector2403, which points toward the source of magnetic field2301 (i.e., one or more antennas within charging base1902).
• According to one exemplary embodiment, alignment system C08 (seeFIGS. 19 and 20) may include a processor2002 (seeFIG. 20), which may be configured to calculate a direction ofvector2403 from one or more signals received from orthogonal x and y magnetic elements (e.g., x-antenna2104 and y-antenna2105) of an antenna (e.g., antenna2402) ofvehicle base1905. Stated another way,processor2002 may determine the vector between at least one antenna withinvehicle base1905 to at least one antenna within chargingbase1902. It is noted that a ferrite disk (e.g.,ferrite disk2102 ofFIG. 21) may concentrate and/or magnify a horizontal field component ofmagnetic field2301 and, as a result, the horizontal field component may be more easily detected.
• By way of example only, chargingbase1902 may be configured to generate radio wave magnetic fields, which, as will be understood by a person having ordinary skill in the art, may not require an unobstructed line of sight and. are not easily obstructed by objects within a surrounding environment (e.g., snow, pollution, or other objects). Moreover, chargingbase1902 may be configured to reduce, and possibly eliminate, multi-path propagation effects (i.e., reflections from surrounding objects). In other examples, chargingbase1902 may be configured to emit or receive signals at optical or infrared frequencies.
• Furthermore, according to another exemplary embodiment of determining a direction fromvehicle base1905 to chargingbase1902,guidance system1901 may be configured to function in a manner similar to that of a radio navigation system (e.g., VHF Omni-directional Radio Range “VOR”), as will be understood by a person having ordinary skill in the art. In this exemplary embodiment,guidance signal1906 may comprise a direction signal (e.g., a circular polarized H-field) and a time-reference signal. Furthermore,vehicle base1905 may be configured to receive each of the directional signal and the reference signal and measure a phase difference therebetween to determine a line of position, from chargingbase1902, on whichvehicle base1905 is located.
• Additionally, for the exemplary embodiments described above related to positioning a BEV within a parking space,guidance system1901 may be configured to measure a change in a strength of guidance signal1906 (seeFIG. 19) emitted from chargingbase1902 to determine a position of vehicle base relative to chargingbase1902. The BEV may solely use or additionally use the gradient of the field strength of the guidance signal to find to a location of the charging base. This may enable use of simplified receivers within the BEV. Moreover, it is noted that for the exemplary embodiments described above related to magnetic field detection, a guidance system (e.g., guidance system1901) should be configured to detect a magnetic field emitted from an associated charging base without being affected by the presence of magnetic fields produced by adjacent charging bases for the purpose of wireless energy transfer, for the purpose of vehicle guidance, or both.
• Furthermore, exemplary embodiments of the present invention include devices, systems and methods for employing ultra wide band (UWB) location technologies. Ultra wide band localizers may be based on distance measurement through measurement of a round-trip time of a pulse or other suitable wideband waveforms, similarly to secondary surveillance radar used in air traffic control or satellite ranging techniques. In an exemplary embodiment, multiple UWB transponders as part of the charging base are suitably positioned within a parking lot area and there is one UWB transceiver as part of the BEV subsystem having an antenna suitably installed e.g. within the BEV wireless power antenna. The BEV transceiver emits a UWB signal which when received by the UWB transponders triggers a response signal in each of the transponders. These response signals are preferably of the same waveform but delayed in time by a fixed and known amount or shifted in frequency or both, relative to the received signal. The BEV transceiver in turn measures time of arrival of all response signals and determines round-trip-time and related distance between its UWB antenna and each of the transponders. For example, by positioning multiple ranging devices within chargingbase1902, a position of chargingbase1902 relative tovehicle base1905 may be determined through triangulation methods, as will be understood in the art. Ultra wide band location technologies may enable real-time, continuous position measurements with resolutions in the centimeter range. Moreover, code and time division channelization for a million localizers per km²may be achievable.FIG. 26 illustrates four ultra wide band transponders for use within a triangulation process.
• In yet another exemplary embodiment using UWB guidance signals, there is a UWB transmitter as part of the charging base having an antenna suitably placed e.g. within the CB wireless power antenna and there are multiple UWB receivers as part of the BEV subsystem having antennas suitably placed on the BEV. The BEV-sided guidance system measures relative time of arrival of the UWB signal in each of its receivers to determine an angle of direction pointing to the charging base.
• Above described methods using UWB electromagnetic signals for positioning or direction finding may also apply to the use of acoustic e.g. ultrasonic signals, emitters and sensors.
• With reference again toFIG. 17, it is noted that eachnon-active charging base1706 may be configured to emit a beacon signal at a very low frequency (VLF) (i.e., 3-30 KHz) or a low frequency (LF) (i.e., 30-150 KHz) and in a different frequency band in which wireless power is transmitted. Furthermore, each beacon signal may comprise a parking space identifier indicative of the parking space from which the beacon signal originated. This beacon signal may be identical with the guidance signal used for positioning or direction finding purposes. Moreover, beacon signals emitted by chargingbases1706 may share available resources in time, frequency, or both. Moreover, for the exemplary embodiments described above, a guidance system (e.g., guidance system1901) may be configured to operate in a single, isolated parking space (e.g., a residential garage) and may not require use of triangulation methods involving charging bases of adjacent parking spaces.
• FIG. 27 is a flowchart illustrating amethod2701, in accordance with one or more exemplary embodiments.Method2701 may include generating at least one signal with at least one antenna positioned within a wireless charging base (depicted by numeral2702).Method2701 may further include detecting at least a portion of the at least one signal with at least one antenna within a wireless vehicle base integrated within a battery electric vehicle (BEV) (depicted by numeral2703). Further,method2701 may include determining a direction from the vehicle base to the charging base from the detected at least a portion of the at least one signal (depicted by numeral2704). Moreover,method2701 may include moving the battery electric vehicle (BEV) toward the wireless charging base according to the determined direction (depicted by numeral2705).
• The various exemplary embodiments described above with reference toFIGS. 17-27 may enable antennas within a BEV wireless charging system to be aligned within an error radius. In the event a residual antenna alignment error exists after a BEV has been positioned within a parking space, devices, systems, and methods related to fine alignment of antennas, as described below, may be utilized.
• A wireless power charging and antenna alignment system includes a charging base configured to transmit or receive a wireless power signal to/from a BEV wireless charging subsystem. The BEV wireless charging subsystem may be operably coupled with a battery unit of a BEV. The system further includes a BEV antenna operably coupled with the BEV wireless charging subsystem. The system may further include a mechanical device configured for adjusting a physical position of the BEV antenna as described herein.
• The BEV antenna may be positioned in a location of the BEV where there is enough space to integrate the BEV wireless charging subsystem with the other components and systems of the BEV. For example, the wireless power antenna may be located within the underside of the chassis of the BEV. The BEV antenna may be positioned near the front, center, or rear of the BEV. Positioning the wireless power antenna near the front of the BEV may result in the driver having more accuracy in positioning, as the wireless power antenna would be closer to the BEV's steering unit. Additionally, locating the wireless power antenna near the front of the BEV may provide more uniformity for overly long BEVs. Positioning the wireless power antenna near the center of the BEV may result in having more flexibility in parking forwards or backwards. Positioning the wireless power antenna near the rear of the BEV may be advantageous for system integration due to space constraints in the front and middle sections of the BEV. Other benefits for positioning the wireless power antenna near the front, middle, or rear of the BEV may also exist.
• FIG. 28A illustrates thatvarious obstructions2805 may be encountered by aBEV2810 requiring a minimum chassis clearance. Theobstructions2805 may contact theunderside2815 of the chassis of theBEV2810 at different locations. When a wireless power antenna (not shown) is located within or near theunderside2815 of the chassis of theBEV2810, the wireless power antenna may become damaged, misaligned, or have other problems associated withobstructions2805 contacting the wireless power antenna.
• FIGS. 28B and 28C illustrate aBEV antenna2820 according to an exemplary embodiment of the present invention. In order to protect theBEV antenna2820 from undesirable contact from obstructions, it may be desirable to locate theBEV antenna2820 within acavity2812 of the underside of the chassis of aBEV2810. In order to further protect thewireless power antenna2820 from environmental effects (e.g., pollution, dirt, mud, water, ice, moisture), acover2824 and/or defrostunit2822 may be used. Thedefrost unit2822 may be the wireless power antenna itself. In this concept the BEV wireless power subsystem may be operated in transmit mode injecting a current into theBEV antenna2820 that produces sufficient heat dissipation.
• A charging base (not shown) may include a power conversion unit operably coupled with a CB antenna. The charging base may further include other mechanical or electronic components (e.g., processor) that may be used for position adjustment of the CB antenna as will be described herein. Components of the charging base may be housed within a charging base that is at least partially embedded below a ground surface, such as in a parking lot, driveway, or garage. A tool may be used to form the hole in which the charging base is located. For example,FIG. 29A illustrates a tool2900 (e.g., milling cutter) which may be used to drill a hole in theground2905, in which a charging base may be at least partially embedded. As a result, thetool2900 may be used to equip parking lots with charging bases in order to accelerate large scale deployments of wireless charging of BEVs.
• FIG. 29B illustrates acharging base2910 at least partially embedded below aground surface2905 according to an exemplary embodiment of the present invention. Thecharging base2910 may include one ormore CB antennas2915 for transmitting or receiving a wireless power signal to/from a corresponding BEV antenna (not shown) associated with a BEV. Thecharging base2910 may be protrusive2901 from the ground, which may improve coupling as the distance between theCB antenna2915 and BEV antenna may be reduced. A protrusive2901charging base2910 may be more accessible for maintenance and repair. However, a protrusive2901charging base2910 may be an impediment, such as for pedestrians or during snow removal. Alternatively, thecharging base2910 may be flush2902 with the surface of theground2905. A flush2902charging base2910 may be more accessible for maintenance and repair and non-impedimental; however, coupling between theCB antenna2915 and BEV antenna may be reduced in comparison to the protrusive2901charging base2910. A flush2902charging base2910 may also leave a potential problem with the edge of the ground surface (e.g., asphalt) potentially being more prone to erosion by water, ice and mechanical stress. Alternatively, acharging base2910 may be located completely below2903 the surface of the ground (e.g., below the asphalt layer2907). Such a below-surface2903charging base2910 may be more secure from intruders vandalism), and be non-impedimental; however, coupling and accessibility to maintenance and repair may be reduced. With reference toFIG. 29D, a substantiallyflat cover3535 with athin collar3537 extending over a ground surface3539 (e.g., asphalt) may be positioned over chargingbase2910 and may enable unimpeded road cleaning (e.g., machined road cleaning). Furthermore,cover3535 may solve the problem described above related to potential erosion of an edge of theground surface3539.
• FIG. 29C further shows acharging base2910 that is located fully below the surface of theground2905 according to an exemplary embodiment of the present invention. Thecharging base2910 may be configured to protect thewireless power antenna2915 fromenvironmental factors2908, such as heat, cold, solar radiation, water, moisture, debris, etc. For example, such a fully embedded charging base may be hermetically sealed in order to be water proof.
• FIG. 30A-30C illustrate aBEV3010 including awireless power antenna3015 positioned over acharging base3020 also including awireless power antenna3025. As shown inFIG. 30, theBEV antenna3010 and theCB antenna3025 are aligned in the X and Y directions, and separated by adistance3030 in the Z direction. As shown inFIG. 30B, theBEV antenna3010 and theCB antenna3025 are misaligned by an offsetdistance3035 in the X direction, and are separated by adistance3030 in the Z direction.
• It may be desirable to reduce thedistance3030 and the offsetdistance3035 in order to improve coupling strength between theBEV antenna3015 and theCB antenna3025. Reducing thedistance3030 and the offsetdistance3035 may occur through a fine alignment adjustment system.
• The fine alignment adjustment system may be used to adjust the physical position of theCB antenna3025, theBEV antenna3015, or a combination thereof in order to increase coupling strength between theCB antenna3025 and theBEV antenna3015. Adjusting the position of one or both of theBEV antenna3015 andCB antenna3025 may be performed in response to a detection of misalignment therebetween. Determining misalignment may be performed by utilizing information from the vehicle guidance system, as described above, such as for the methods related to magnetic field detection. Furthermore, information from a wireless power link (e.g., various parameters indicative of the performance of the wireless power link) may be used in determining misalignment of associated antennas. For example, during misalignment detection, the wireless power link may be operated at a reduced power level and after associated antennas have been accurately aligned, the power level may be increased.
• The fine alignment adjustment system may be separate from, or in addition to the course alignment guidance system. For example, the course alignment guidance system may guide a BEV into a position within a given tolerance (i.e., error radius), such that a fine alignment adjustment system can correct for fine errors between theBEV antenna3015 and theCB antenna3025.
• As shown in the overhead view ofBEV3010 inFIG. 30C, theBEV antenna3010 and theCB antenna3025 are misaligned only in the X direction. TheBEV antenna3010 andCB antenna3020 are aligned in the Y direction. For example, the alignment in the Y direction may have been accomplished by theBEV3010 using its own traction system, which may be assisted (e.g., auto-piloted) by the guidance system described herein, and by which the BEV's motor may be able to move smoothly and accurately to a target V position. In such a scenario, alignment error in the X direction may still exist but not in the Y direction. Eliminating the need for alignment adjustment in the Y direction (e.g., through use of a course alignment guidance system) may also reduce space requirements forBEV antenna3015 as theBEV antenna3015 may be configured to move only in X direction, which may be accommodated in a cavity and not deployed for wireless power transfer. Thus, eliminating the need for fine alignment in the Y direction may simplify the BEV wireless power subsystem.
• FIGS. 31A-31G illustrate several variants for fine alignment adjustment according to various exemplary embodiments of the present invention. As shown byFIGS. 31A-31G, the physical position of theBEV antenna3115 may be adjusted to correct for alignment errors in the X, Y, and Z directions, or any combination thereof. Additionally, the position of theCB antenna3125 may be adjusted to correct for alignment errors in the X, Y, and Z directions, or any combination thereof. In some exemplary embodiments, the positions of both theBEV antenna3115, and theCB antenna3125 may be adjusted to correct for alignment errors in any of the X, Y, and Z directions, or any combination thereof.
• Stated another way, during coupling wireless power between aCB antenna3125 and aBEV antenna3115 associated with a battery unit of aBEV3110, the position of at least one of theCB antenna3125 and theBEV antenna3115 may be adjusted. The adjustment of position may be initiated in response to a detection of misalignment between theCB antenna3125 and theBEV antenna3115. Acharging base3120 may include a wireless power transmitter configured to transmit the wireless power signal, and aCB antenna3125 operably coupled with the wireless power transmitter. One or more mechanical devices may be used for adjusting the position of theBEV antenna3115 and/or theCB antenna3125 in at least one of an X, Y, and Z direction.
• FIG. 32 illustrates possible locations in the X and Y direction that a mechanical device may adjust the position of a BEV antenna according to an exemplary embodiment of the present invention. For example, by selecting an angle pair (α, β) within the mechanical device, any position in the X and Y directions may be achieved within a radius r_max.
• FIG. 33 illustrates a mechanical solution for aBEV antenna3315 that is located within acavity3312 of the underside of aBEV3310 according to an exemplary embodiment of the present invention. As shown inFIG. 33,mechanical device3350 may adjust the position of theBEV antenna3315 in the X and Y directions by selecting an appropriate angle pair (α, β). Additionally,mechanical device3350 may adjust the position of theBEV antenna3315 in the Z direction by lowering theBEV antenna3315 from thecavity3312 of theBEV3310.Mechanical device3350 may include one of many mechanical solutions including electric driven mechanics and/or hydraulics. Although not shown herein, a mechanical device may similarly be used to adjust the position of the CB antenna in the X, Y, or Z directions, or any combination thereof. In other words, fine alignment adjustment may be accomplished with a mechanical solution for adjusting the position of the CB antenna, theBEV antenna3315, or both, as the case may be. Some mechanical solutions may experience failure and may require some maintenance or repair.
• FIG. 34 illustrates another mechanical solution in which the BEV antenna3415 (and/or CB antenna) may be repositioned by agear shaft3450 operably coupled to adrive mechanism3452 according to an exemplary embodiment of the present invention. In operation, if thedrive mechanism3452 is actuated, thegear shaft3450 may be rotated to extend thesupport member3454 in order to lower theBEV antenna3415 in the Z direction.
• As shown inFIG. 35A, acharging base3520 may experience heavy loading from the weight of aBEV3510. Therefore, it may be desirable for thecharging base3520 to further include a reinforcedcover3527.FIGS. 35B and 35C illustrate acharging base3520 including a reinforced cover according to an exemplary embodiment of the present invention. A reinforcedcover3527 may be located above the surface of the ground as shown inFIG. 35B, or below the surface of the ground as shown inFIG. 35C. The reinforcedcover3527 may increase the distance from a BEV antenna than would otherwise occur with acharging base3520 not including the reinforced cover. Being above the surface of the ground may improve accessibility for maintenance and repair, but may also be an obstruction (e.g., for pedestrians, snow clearance, etc.). In an exemplary embodiment with theCB antenna3525 located within an embeddedcharging base3520 and with theCB antenna3525 configured to be movable within the embeddedcharging base3520, it may be desirable for thecharging base3520 to be enlarged in comparison to a charging base with a stationary CB antenna.
• Up to this point a wireless power charging and antenna alignment system for a BEV has been shown to move only the BEV antenna in the X, Y, and Z directions.FIGS. 36A-36D illustrate aBEV3610 including a wirelesspower battery unit3630 and theBEV antenna3615 configured to be repositioned in the X, Y, and Z directions in various combinations according to an exemplary embodiment of the present invention. The battery unit may be located within a cavity of theBEV3610. Additionally, theBEV antenna3615 may be located within a cavity of thebattery unit3630.
• Adjusting the position of the entire battery unit3630 (e.g., in the Z direction) to accommodate antenna alignment, decrease the distance between the antennas, or both, may improve coupling between theCB antenna3625 andBEV antenna3615.
• For example, the position of the battery unit may3630 may be adjusted in one or more directions (FIG. 36B). TheBEV antenna3615 may be moved in the X, Y, and Z directions (FIG. 36C). Additionally, both thebattery unit3630 and theBEV antenna3615 can be moved in the X. Y, and Z directions in various combinations (FIG. 36D). Like with the examples discussing adjusting the position of an antenna, adjusting the position of thebattery unit3630 may be accomplished through mechanical devices (e.g., through electric driven mechanics and/or hydraulics).
• The fine alignment adjustment may also accomplished with the assistance of an electrical solution (e.g., electronically switched coil arrays) altering the flux lines of the electric field generated by the wireless power transmitter. A combination of mechanical and electrical alignment of the antennas may be used.
• The fine alignment adjustment may also be performed using the BEV's3610 own traction system, which may configured to have the motor move theBEV3610 smoothly and accurately (e.g., by moving theBEV3610 back and forth in a zig-zag motion) to enhance coupling between coupling between theCB antenna3625 andBEV antenna3615. This zig-zag motion may be performed fully automatically by theBEV3610 without, or with only minimum, operator intervention. For example, theBEV3610 may be equipped with a servo steering wheel, ultrasonic sensors, and artificial intelligence. In this case theBEV antenna3615 may be fixed, and adjustment of theBEV antenna3615 through other mechanical or electrical solutions may not be required. In other words, theBEV antenna3615 is in a fixed position in at least one of the X, Y, and Z directions (or all directions) in relation to theBEV3610, and the mechanical device used to adjust the position of theBEV antenna3615 includes the motor of theBEV3610 configured for controllably positioning theBEV3610 for adjusting the position of theBEV antenna3615 in at least one of the X, Y, and Z directions.
• Stated another way, a wireless power alignment system for a vehicle may comprise a wireless power receiver configured to receive a wireless power signal, the wireless power receiver may be operably coupled with abattery unit3630 of aBEV3610. TheBEV antenna3615 may be operably coupled with the wireless power receiver, and at least one mechanical device may be configured for adjusting a position of theBEV antenna3615 in at least one of an X, Y, and Z direction. Adjusting a position of the BEV antenna may be in response to a detection of misalignment between theBEV antenna3615 and aCB antenna3625.
• FIG. 37 illustrates fine alignment adjustment for a wirelesspower charging system3700 for aBEV3710 according to an alternative exemplary embodiment of the present invention.Wireless power system3700 includes aBEV3710 associated with a BEV sidewireless power subsystem3713 operably coupled to a power supply3718 (e.g., battery). The BEVwireless power subsystem3713 may include a BEV power converter (not shown) operably coupled with aBEV antenna3715. TheBEV antenna3715 may be located along the underside of the chassis ofBEV3710. Thewireless power system3700 for aBEV3710 further includes acharging base3720 including a CB power conversion (not shown) operably coupled with aBEV antenna3725. Rather than thecharging base3720 being at least partially embedded below the surface of the ground as previously described, chargingbase3720 may be configured as a charging platform located above the surface of the ground. Such a configuration may be desirable as a retrofit solution for a garage or carport if forming a hole in the ground for a charging base is undesired. A configuration of a charging platform may also provide flexibility as the charging platform may mobile and able to be stored in a location other than a garage or transferred to another location.
• The charging base3720 (e.g., charging platform) may be configured to move automatically (e.g., as an automated robot), be controlled remotely (e.g., via a remote control unit), or through other methods for control of a mobile charging platform. For example, the BEV3710 (e.g., through its wireless power subsystem3713) may request a charge, whereupon thecharging base3720 may move automatically underneath theBEV3710 and position itself to align the CBwireless power antenna3725 with theBEV antenna3715. Further fine alignment (if necessary) may be accomplished through adjusting the position of theBEV antenna3715 andCB antenna3725 in one or more direction as previously described.
• Once sufficiently aligned, chargingbase3720 may more efficiently transfer wireless power between a charging base and awireless power subsystem3713 of theBEV3710. After charging is completed, or after some other event, thecharging base3720 may return back to a waiting position (standby mode). Thewireless power system3700 may, therefore, include a communication link with thecharging base3720 and another device (e.g., wireless power subsystem3713) associated with theBEV3710. Thecharging base3720 may further include cable management in order to uncoil and coil a connectingcable3722 prior to and after the charging process.
• A wireless power charging system for a BEV may be further configured for safety and security concerns. For example, the BEV may be configured to be immobilized when the wireless power BEV or CB antennas are deployed, when such antennas cannot be retracted (e.g., due to damage or obstacle). Such immobilization may protect the wireless power charging system from further damage. The wireless power charging system may further include sensors that detect mechanical resistance of the wireless power BEV or CB antennas. Detecting mechanical resistance may protect the wireless power BEV or CB antennas and accompanying components from being damaged if an obstacle (stone, debris, snow, animal, etc.) is positioned in a location that would restrict the movement of the antenna.
• The wireless power charging system may further include continuous monitoring of the wireless power link between the BEV antenna and CB antenna (e.g., monitoring voltages, currents, power flow, etc.) and reduce the power transmitted or shut down power in the event of detection of an abnormality in the wireless power link. The wireless power charging system may further include sensors configured to detect the presence of persons or animals in close proximity of the antenna. Such sensors may be desirable in order for a processor to reduce or terminate wireless power transmission if a person is proximate the wireless power antennas. Such an action may be a safety precaution against prolonged exposure to electromagnetic radiation, such as for example, while a person performs maintenance or other repair work underneath the BEV particularly for persons using cardiac pacemakers or similar sensitive and safety critical medical devices.
• Those of skill in the art would understand that information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
• Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the exemplary embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the exemplary embodiments of the invention.
• The various illustrative logical blocks, modules, and circuits described in connection with the exemplary embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
• The steps of a method or algorithm described in connection with the exemplary embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), flash memory, Read Only Memory (ROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
• In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
• The previous description of the disclosed exemplary embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these exemplary embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the exemplary embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (16)

What is claimed is:

1. An apparatus for determining a position of a vehicle-based wireless power transfer device relative to a ground-based wireless power transfer device, the apparatus comprising:

an ultrasonic transmitter configured to transmit an ultrasonic signal suitable for ranging; and

an ultrasonic receiver configured to receive the ultrasonic signal and to measure a time of arrival of the ultrasonic signal at the ultrasonic receiver;

a processor configured to:

determine the position of the vehicle-mounted wireless power transfer device relative to the ground-based wireless power transfer device based on the measured time of arrival.

2. The apparatus ofclaim 1, wherein the ultrasonic transmitter comprises a plurality of transmitters, each configured to transmit a respective ultrasonic signal.

3. The apparatus ofclaim 2, wherein the respective ultrasonic signals are of the same waveform but shifted at least in one of a time and frequency.

4. The apparatus ofclaim 1, wherein the ultrasonic receiver comprises a plurality of receivers configured to receive the respective ultrasonic signal and to measure the respective time of arrival.

5. The apparatus ofclaim 1, wherein any of the wireless power transfer devices includes at least one of the ultrasonic transmitter and the ultrasonic receiver.

6. The apparatus ofclaim 2, wherein any of the wireless power transfer devices includes an ultrasonic transceiver comprising an ultrasonic transmitter and an ultrasonic receiver.

7. The apparatus ofclaim 2, wherein any of the wireless power transfer devices includes an ultrasonic transponder comprising an ultrasonic transmitter and an ultrasonic receiver.

8. The apparatus ofclaim 1, wherein the ultrasonic signal is one of a pulse signal or of another wideband waveform suitable for ranging.

9. The apparatus ofclaim 1, wherein the measured time of arrival of the ultrasonic signal includes a round-trip time.

10. The apparatus ofclaim 1, wherein the position of the vehicle-based wireless power transfer device relative to the ground-based wireless power transfer device includes at least an angle of direction.

11. The apparatus ofclaim 1, wherein the processor determines the position based on the measured time of arrival using a process of triangulation.

12. The apparatus ofclaim 1, wherein the processor continuously determines the position in real-time with a resolution in the centimeter range.

13. The apparatus ofclaim 1, wherein the position is used for guidance and alignment of the vehicle-based wireless power transfer device relative to the ground-based wireless power transfer device.

14. The apparatus ofclaim 1, wherein the ground-based wireless power transfer device is fixed and positioned in a parking space.

15. The apparatus ofclaim 1, wherein the ground-based wireless power transfer device is configured to move automatically as an automated robot and to align with the vehicle-based wireless power transfer device.

16. The apparatus ofclaim 1, wherein the ultrasonic transmitter comprises at least one ultrasonic emitter and the ultrasonic receiver comprises at least one ultrasonic sensor.

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