Method for the contactless charging or discharging of a battery-operated object
The invention relates to a method for the contactless charging or discharging of a battery-operated object ( 4 ) via a magnetically coupled coil pair, comprising a primary coil ( 6 ) of a charging/discharging station ( 2 ) and a secondary coil ( 8 ) of the object ( 4 ), wherein: in a first step, the object ( 4 ) is transferred into a reference position in relation to the charging/discharging station ( 2 ); in a second step, a reference parameter is determined in the reference position; in a third step, a lateral desired offset of the object ( 4 ) to the charging/discharging station ( 2 ) is determined, based on the reference parameter; and in a fourth step, based on the lateral desired offset, the object ( 4 ) is transferred into a charging/discharging position in relation to the charging/discharging station ( 2 ) in which position the contactless charging or discharging is carried out. The invention also relates to a computer program, a system ( 100 ), a charging/discharging station ( 2 ) and an object ( 4 ), which are designed to carry out the method.
1. A method for the contactless charging or discharging of a battery-operated object ( 4 ) by means of a magnetically coupled coil pair which comprises a primary coil ( 6 ) of a charging/discharging station ( 2 ) and a secondary coil ( 8 ) of the object ( 4 ), the method comprising:
moving an object ( 4 ) to a reference position with respect to the charging/discharging station ( 2 ),
ascertaining a reference parameter in the reference position,
when the reference parameter does not meet a threshold value, ascertaining a lateral desired offset of the object ( 4 ) from the reference position, a vertical desired height of the object ( 4 ) from the reference position, or both based on the reference parameter, and
moving the object ( 4 ) from the reference position to a charging/discharging position with respect to the charging/discharging station ( 2 ), based on the lateral desired offset, the vertical desired-height, or both.
2. The method as claimed in claim 1 , wherein the reference parameter is a coupling factor or a mutual inductance which describes the quality of the magnetic coupling of the coil pair.
3. The method as claimed in claim 2 , wherein the coupling factor or the mutual inductance is measured by means of a current and/or voltage measurement when a reference signal is applied.
4. The method as claimed in claim 1 , wherein the reference parameter is a height of the object ( 4 ) above the charging/discharging station ( 2 ).
5. The method as claimed in claim 1 , wherein the lateral desired offset, the vertical desired height, or both are ascertained from the reference parameter by means of a lookup table.
6. The method as claimed in claim 1 , wherein the method is carried out in an iterative manner.
7. A non-transitory computer readable medium including instructions that when run on a programmable computer cause the computer to
control a drive to move an object ( 4 ) to a reference position with respect to the charging/discharging station ( 2 ),
ascertain a reference parameter in the reference position,
when the reference parameter does not meet a threshold value, ascertain a lateral desired offset of the object ( 4 ) from the reference position, a vertical desired height of the object ( 4 ) from the reference position, or both based on the reference parameter, and
control the drive or an actuator to move the object ( 4 ) from the reference position to a charging/discharging position with respect to the charging/discharging station ( 2 ), based on the lateral desired offset, the vertical desired height, or both.
8. A system ( 100 ) comprising a charging/discharging station ( 2 ), a battery-operated object ( 4 ) and a control unit ( 10 ), wherein the control unit ( 10 ) is designed
to move the object ( 4 ) to a reference position with respect to the charging/discharging station ( 2 ),
to ascertain a reference parameter in the reference position,
to ascertain, when the reference parameter does not meet a threshold value, a lateral desired offset from the reference position, a vertical desired height of the object from the reference position, or both based on the reference parameter,
to move the object ( 4 ) from the reference position to a charging/discharging position with respect to the charging/discharging station ( 2 ) based on the lateral desired offset, the vertical desired height, or both, and
to initiate contactless charging or discharging of the object ( 4 ) by means of a magnetically coupled coil pair,
wherein the charging/discharging station ( 2 ) has a primary coil ( 6 ), the object ( 4 ) has a secondary coil ( 8 ), and the primary coil and the secondary coil form the coil pair.
9. A battery-operated object ( 4 ) for use in a system ( 100 ) comprising
a charging/discharging station ( 2 ),
the battery-operated object ( 4 ) and
a control unit ( 10 ), wherein the control unit ( 10 ) is designed
to move the object ( 4 ) to a reference position with respect to the charging/discharging station ( 2 ),
to ascertain a reference parameter in the reference position,
to, when the reference parameter does not meet a threshold value, ascertain a lateral desired offset from the reference position, a vertical desired height of the object from the reference position, or both based on the reference parameter,
to move the object ( 4 ) from the reference position to a charging/discharging position with respect to the charging/discharging station ( 2 ) based on the lateral desired offset, the vertical desired height, or both and
to initiate contactless charging or discharging of the object ( 4 ) by means of a magnetically coupled coil pair,
wherein the charging/discharging station ( 2 ) has a primary coil ( 6 ), the object ( 4 ) has a secondary coil ( 8 ), and the primary coil and the secondary coil form the coil pair.