CN106712313B - A kind of intelligent positioner and method based on wireless charging system - Google Patents
A kind of intelligent positioner and method based on wireless charging system Download PDFInfo
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- CN106712313B CN106712313B CN201611139585.0A CN201611139585A CN106712313B CN 106712313 B CN106712313 B CN 106712313B CN 201611139585 A CN201611139585 A CN 201611139585A CN 106712313 B CN106712313 B CN 106712313B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims abstract description 33
- 239000011324 bead Substances 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000002708 enhancing effect Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 125000004122 cyclic group Chemical group 0.000 description 4
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Classifications
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- H02J5/005—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- H02J7/025—
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
The present invention relates to field of intelligent control technology, disclose a kind of intelligent positioner and method based on wireless charging system, the wireless charging system includes the receiving coil for being set to electric car end and the transmitting coil for being set to charging end, the intelligent positioner includes: vision camera and visual signature chart board, the vision camera is fixed on the center of the receiving coil and is directed downward, the visual signature chart board is attached at the upper surface of the transmitting coil, Eigen Structure is provided on the visual signature chart board, when electric car enters intelligent positioning mode, the Eigen Structure immediately below the center of the receiving coil in preset range is acquired by vision camera, the deviations of transmitting coil and receiving coil are calculated according to collected Eigen Structure, and electric car is carried out according to the deviations Intelligent positioning can be calculated the deviations of transmitting coil and receiving coil by vision camera and visual signature chart board, and carry out intelligent positioning to electric car according to the deviations, and the accurate positionin of wireless charging system for electric automobile is realized.
Description
Technical field
The present invention relates to field of intelligent control technology more particularly to a kind of intelligent positioners based on wireless charging system
And method.
Background technique
Currently, with the reality of 13 Planning Support strategic emerging industries development and new-energy automobile public subsidies policy
It applies, ev industry flourishes, wherein charging technique is one of key technology of Development of Electric Vehicles, and electric car fills
Electricity be divided into contact charging and wireless charging, wireless charging scheme be that transmitting coil is embedded to underground, prevent take up aboveground space and
Without leakage interface, have many advantages, such as operational safety, it is convenient flexibly, maintenance cost it is low, construction take up an area less, user experience it is good, receive
More and more concerns.
In wireless charging system for electric automobile, coupling coil is the element realizing electric energy and field energy and mutually converting, transmitting
Coil is usually fixed at ground, and receiving coil is mounted below electric automobile chassis, apart about 10cm-15cm, coupling coil
Relative vertical distance and lateral shift can all directly affect the performance and efficiency of charging, especially lateral shift, current electronic vapour
Stop positioning in vehicle charging process, is to be completed by pilot steering with visually observing, and causes position fixing process time length, precision
Difference.
Summary of the invention
It, can it is a primary object of the present invention to propose a kind of intelligent positioner and method based on wireless charging system
The deviations of transmitting coil and receiving coil are calculated by vision camera and visual signature chart board, and inclined according to the positioning
Difference carries out intelligent positioning to electric car, realizes the accurate positionin of wireless charging system for electric automobile.
To achieve the above object, a kind of intelligent positioner based on wireless charging system provided by the invention, the nothing
Line charge electric system includes the receiving coil for being set to electric car end and the transmitting coil for being set to charging end, the intelligent positioning
Device includes: vision camera and visual signature chart board, and the vision camera is fixed on the center of the receiving coil
And be directed downward, the visual signature chart board is attached at the upper surface of the transmitting coil, is arranged on the visual signature chart board
There is Eigen Structure, when electric car enters intelligent positioning mode, the center of the receiving coil is acquired by vision camera
Eigen Structure immediately below position in preset range calculates determining for transmitting coil and receiving coil according to collected Eigen Structure
Position deviation, and intelligent positioning is carried out to electric car according to the deviations.
Optionally, the Eigen Structure is center radial-like streak, the center of the Eigen Structure and the transmitting coil
Center be overlapped.
Optionally, the deviations that transmitting coil and receiving coil are calculated according to collected Eigen Structure, and root
Carrying out intelligent positioning to electric car according to the deviations includes:
Any two straightways are extracted from the collected Eigen Structure, are carried out intersection operation and are obtained described two directly
The intersection point of line segment, the intersection point are the center of the transmitting coil；
Obtain projected position of the center of the receiving coil in the collected Eigen Structure；
According to the deviations of the projected position and the intersection point calculation transmitting coil and receiving coil, the positioning is inclined
Difference includes range deviation and the deviation of directivity；
The deviations are judged whether in preset error range, if so, positioning successfully, otherwise, according to described
Deviations control the angular speed and linear velocity of electric car, carry out deviations correction to electric car.
Optionally, the deviations according to the projected position and the intersection point calculation transmitting coil and receiving coil
Include:
Image coordinate system is established, the origin of described image coordinate system is the center of transmitting coil, the X of described image coordinate system
Axis is immediately ahead of electric car, and the Z axis of described image coordinate system is upward, and the Y direction of described image coordinate system meets right hand spiral shell
Revolve rule；
The coordinate of projected position and intersection point in described image coordinate system is obtained, is calculated straight between projected position and intersection point
Linear distance namely range deviation；Calculate the line between projected position and intersection point and angle namely the deviation of directivity between X-axis.
Optionally, the intelligent positioner further include: LED lamp bead, the LED lamp bead are set to the vision camera
Around, for enhancing field luminance.
As another aspect of the present invention, a kind of intelligent locating method based on wireless charging system provided is described
Wireless charging system includes the receiving coil for being set to electric car end and the transmitting coil for being set to charging end, the method packet
It includes:
Vision camera is set in the center of the receiving coil, the vision camera is directed downward；Institute
The upper surface setting visual signature chart board of transmitting coil is stated, is provided with Eigen Structure on the visual signature chart board；
When electric car enters intelligent positioning mode, the center of the receiving coil is acquired by vision camera
Eigen Structure in the preset range of underface；
The deviations of transmitting coil and receiving coil are calculated according to collected Eigen Structure, and inclined according to the positioning
Difference carries out intelligent positioning to electric car.
Optionally, the Eigen Structure is center radial-like streak, the center of the Eigen Structure and the transmitting coil
Center be overlapped.
Optionally, the deviations that transmitting coil and receiving coil are calculated according to collected Eigen Structure, and root
Carrying out intelligent positioning to electric car according to the deviations includes:
Any two straightways are extracted from the collected Eigen Structure, are carried out intersection operation and are obtained described two directly
The intersection point of line segment, the intersection point are the center of the transmitting coil；
Obtain projected position of the center of the receiving coil in the collected Eigen Structure；
According to the deviations of the projected position and the intersection point calculation transmitting coil and receiving coil, the positioning is inclined
Difference includes range deviation and the deviation of directivity；
The deviations are judged whether in preset error range, if so, positioning successfully, otherwise, according to described
Deviations control the angular speed and linear velocity of electric car, carry out deviations correction to electric car.
Optionally, the deviations according to the projected position and the intersection point calculation transmitting coil and receiving coil
Include:
Image coordinate system is established, the origin of described image coordinate system is the center of transmitting coil, the X of described image coordinate system
Axis is immediately ahead of electric car, and the Z axis of described image coordinate system is upward, and the Y direction of described image coordinate system meets right hand spiral shell
Revolve rule；
The coordinate of projected position and intersection point in described image coordinate system is obtained, is calculated straight between projected position and intersection point
Linear distance namely range deviation；Calculate the line between projected position and intersection point and angle namely the deviation of directivity between X-axis.
Optionally, the intelligent positioner further include: LED lamp bead, the LED lamp bead are set to the vision camera
Around, for enhancing field luminance.
A kind of intelligent positioner and method based on wireless charging system proposed by the present invention, the wireless charging system
Including the receiving coil for being set to electric car end and the transmitting coil for being set to charging end, the intelligent positioner includes:
Vision camera and visual signature chart board, the vision camera are fixed on the center of the receiving coil and direction court
Under, the visual signature chart board is attached at the upper surface of the transmitting coil, is provided with characteristic pattern on the visual signature chart board
Sample, when electric car enters intelligent positioning mode, under acquiring the center of the receiving coil just by vision camera
Eigen Structure in square preset range calculates the deviations of transmitting coil and receiving coil according to collected Eigen Structure,
And intelligent positioning is carried out to electric car according to the deviations, it can be calculated by vision camera and visual signature chart board
The deviations of transmitting coil and receiving coil, and intelligent positioning is carried out to electric car according to the deviations, it realizes
The accurate positionin of wireless charging system for electric automobile.
Detailed description of the invention
Vision camera shooting in a kind of intelligent positioner based on wireless charging system that Fig. 1 provides for the embodiment of the present invention one
The structural schematic diagram of head；
Visual signature in a kind of intelligent positioner based on wireless charging system that Fig. 2 provides for the embodiment of the present invention one
The structural schematic diagram of chart board；
Fig. 3 is the deviations algorithm schematic diagram that the embodiment of the present invention one provides；
Fig. 4 is a kind of intelligent locating method flow chart based on wireless charging system provided by Embodiment 2 of the present invention；
Fig. 5 is another intelligent locating method flow chart based on wireless charging system provided by Embodiment 2 of the present invention.
Wherein, appended drawing reference are as follows: 1- vision camera, 2-LED lamp bead, 3- visual signature chart board, 4- Eigen Structure, 5- connect
Take-up circle, 6- transmitting coil.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, it is only using the suffix for indicating such as " module ", " component " or " unit " of element
Be conducive to explanation of the invention, itself there is no specific meanings.Therefore, " module " can mixedly make with " component "
With.
Embodiment one
As shown in Figures 1 and 2, in the present embodiment, a kind of intelligent positioner based on wireless charging system, the nothing
Line charge electric system includes the receiving coil 5 for being set to electric car end and the transmitting coil 6 for being set to charging end, and the intelligence is fixed
Position device includes: vision camera 1 and visual signature chart board 3, and the vision camera is fixed on the center of the receiving coil
It position and is directed downward, the visual signature chart board is attached at the upper surface of the transmitting coil, on the visual signature chart board
It is provided with Eigen Structure 4, when electric car enters intelligent positioning mode, the receiving coil is acquired by vision camera
Eigen Structure immediately below center in preset range calculates transmitting coil and receiving coil according to collected Eigen Structure
Deviations, and according to the deviations to electric car carry out intelligent positioning.
In the present embodiment, it is possible to calculate transmitting coil and receiving coil by vision camera and visual signature chart board
Deviations, and intelligent positioning is carried out to electric car according to the deviations, realize wireless charging system for electric automobile
Accurate positionin.
In the present embodiment, the wireless charging system of electric car includes electric car end and charging end, and charging end is main
Including transmitting coil, transmitting coil is generally located on the ground near charging pile, is provided with and is connect below the chassis of electric car
Take-up circle, the two form coupling coil and charge, and electric car is travelled to target according to planning path and filled under navigation mode
Electric seat.Since navigation accuracy is limited, transmitting coil cannot generally be precisely aligned with receiving coil, and navigation system enters intelligence at this time
Station-keeping mode, vision camera and visual signature chart board in this case are respectively arranged on receiving coil and transmitting coil, in order to
It is easy to understand, is indicated respectively with Fig. 1 and Fig. 2, in charging, receiving coil and transmitting coil be perfectly aligned in the vertical direction
When, charge efficiency highest, this case be exactly come by adjusting the distance between the center of receiving coil and center of transmitting coil into
Row positioning.
As shown in Figure 1, in the present embodiment, the intelligent positioner further include: LED lamp bead 2, the LED lamp bead are set
It is placed in around the vision camera, for enhancing field luminance.
In the present embodiment, the quantity of the LED lamp bead is 4, is uniformly arranged on around vision camera.
As another embodiment, the quantity of the LED lamp bead can be free according to lamp bead watt level and user preferences
Adjustment.
In the present embodiment, the Eigen Structure is center radial-like streak, the center of the Eigen Structure and the hair
The center of ray circle is overlapped, and the intersection point of any two straightways in all Eigen Structures is all located in Eigen Structure
The heart.
As shown in Fig. 2, in the present embodiment, it includes several in circular inside that the periphery of the Eigen Structure, which is circle,
Item etc. divides line segment, and the straight line at the place of all equal part line segments all intersects at the center of Eigen Structure, for the ease of by Eigen Structure
Divide it is more detailed, by several etc. on Eigen Structure divide line segment according to the distance at distance feature pattern center be divided into inner circle,
Four part of inner ring, middle ring and outer ring, wherein the distance at inner circle partial distance Eigen Structure center is nearest, including 4 from characteristic pattern
Inner circle is divided into 4 parts by the equal part line segment that sample extends centrally out；Annular inner portion is close to the interior circular portion, including 24 etc.
Inner ring is divided into 24 parts by separated time section, and described 24 etc. are divided the both ends of line segment to be connected to inner ring from the outer edge of inner circle respectively
Outer edge；Cyclic moieties are close to the annular inner portion, including 36 etc. are divided line segment, and middle ring is divided into 36 parts, described 36 etc.
The both ends of separated time section are connected to the outer edge of middle ring from the outer edge of inner ring respectively；Outer ring portion is wrapped close to the cyclic moieties
It includes 72 etc. and divides line segment, outer ring is divided into 72 parts, described 72 etc. are divided the both ends of line segment to connect respectively from the outer edge of middle ring
To the outer edge of outer ring.
As another embodiment, Eigen Structure can also be divided in more detail, in order to more accurately carry out
Positioning.
In the present embodiment, the positioning for calculating transmitting coil and receiving coil according to collected Eigen Structure is inclined
Difference, and intelligent positioning is carried out to electric car according to the deviations and includes:
Any two straightways are extracted from the collected Eigen Structure, are carried out intersection operation and are obtained described two directly
The intersection point of line segment, the intersection point are the center of the transmitting coil；
Obtain projected position of the center of the receiving coil in the collected Eigen Structure；
According to the deviations of the projected position and the intersection point calculation transmitting coil and receiving coil, the positioning is inclined
Difference includes range deviation and the deviation of directivity；
The deviations are judged whether in preset error range, if so, positioning successfully, otherwise, according to described
Deviations control the angular speed and linear velocity of electric car, carry out deviations correction to electric car.
In the present embodiment, described to be determined according to the projected position and the intersection point calculation transmitting coil and receiving coil
Position deviation include:
Image coordinate system is established, the origin of described image coordinate system is the center of transmitting coil, the X of described image coordinate system
Axis is immediately ahead of electric car, and the Z axis of described image coordinate system is upward, and the Y direction of described image coordinate system meets right hand spiral shell
Revolve rule；
The coordinate of projected position and intersection point in described image coordinate system is obtained, is calculated straight between projected position and intersection point
Linear distance namely range deviation；Calculate the line between projected position and intersection point and angle namely the deviation of directivity between X-axis.
In the present embodiment, the vision camera visual field limitation or for sample it is convenient due to, vision camera shooting
Head only acquires the Eigen Structure immediately below it in preset range, as shown in figure 3, acquisition image when vision camera acquires is as schemed
It is indicated in middle rectangle frame, only includes l1 and l2 two lines section, and the midpoint Oc of rectangle frame is the center of receiving coil, according to
The intersection point of this two lines section can obtain the center Od of transmitting coil, and the distance between Oc and Od d are the center of receiving coil
With the projection of the line of centres of transmitting coil in the horizontal plane, according to this distance d can accurately calculate the center of receiving coil with
The distance between center of transmitting coil, then calculate between the center of receiving coil and the line of centres of transmitting coil and X-axis
Angle [alpha] can be obtained the deviation of directivity.
As another embodiment, the visual signature chart board is replaced by transmitting coil surface, also i.e. by the feature
Image is directly portrayed on the surface of transmitting coil, and this programme also may be implemented.
Embodiment two
As shown in figure 4, in the present embodiment, a kind of intelligent locating method based on wireless charging system, the wireless charging
Electric system includes the receiving coil for being set to electric car end and the transmitting coil for being set to charging end, which comprises
S10, vision camera is set in the center of the receiving coil, the vision camera is directed downward；
Visual signature chart board is set in the upper surface of the transmitting coil, is provided with Eigen Structure on the visual signature chart board；
S20, when electric car enters intelligent positioning mode, the center of the receiving coil is acquired by vision camera
Eigen Structure immediately below position in preset range；
S30, the deviations that transmitting coil and receiving coil are calculated according to collected Eigen Structure, and according to described fixed
Position deviation carries out intelligent positioning to electric car.
In the present embodiment, it is possible to calculate transmitting coil and receiving coil by vision camera and visual signature chart board
Deviations, and intelligent positioning is carried out to electric car according to the deviations, realize wireless charging system for electric automobile
Accurate positionin.
In the present embodiment, the intelligent positioner further include: LED lamp bead, the LED lamp bead are set to the vision
Around camera, for enhancing field luminance.
In the present embodiment, the quantity of the LED lamp bead is 4, is uniformly arranged on around vision camera.
As another embodiment, the quantity of the LED lamp bead can be free according to lamp bead watt level and user preferences
Adjustment.
In the present embodiment, the Eigen Structure is center radial-like streak, the center of the Eigen Structure and the hair
The center of ray circle is overlapped, and the intersection point of any two straightways in all Eigen Structures is all located in Eigen Structure
The heart.
As shown in Fig. 2, in the present embodiment, it includes several in circular inside that the periphery of the Eigen Structure, which is circle,
Item etc. divides line segment, and the straight line at the place of all equal part line segments all intersects at the center of Eigen Structure, for the ease of by Eigen Structure
Divide it is more detailed, by several etc. on Eigen Structure divide line segment according to the distance at distance feature pattern center be divided into inner circle,
Four part of inner ring, middle ring and outer ring, wherein the distance at inner circle partial distance Eigen Structure center is nearest, including 4 from characteristic pattern
Inner circle is divided into 4 parts by the equal part line segment that sample extends centrally out；Annular inner portion is close to the interior circular portion, including 24 etc.
Inner ring is divided into 24 parts by separated time section, and described 24 etc. are divided the both ends of line segment to be connected to inner ring from the outer edge of inner circle respectively
Outer edge；Cyclic moieties are close to the annular inner portion, including 36 etc. are divided line segment, and middle ring is divided into 36 parts, described 36 etc.
The both ends of separated time section are connected to the outer edge of middle ring from the outer edge of inner ring respectively；Outer ring portion is wrapped close to the cyclic moieties
It includes 72 etc. and divides line segment, outer ring is divided into 72 parts, described 72 etc. are divided the both ends of line segment to connect respectively from the outer edge of middle ring
To the outer edge of outer ring.
As another embodiment, Eigen Structure can also be divided in more detail, in order to more accurately carry out
Positioning.
As shown in figure 5, in the present embodiment, the step S30 includes:
S31, any two straightways are extracted from the collected Eigen Structure, carry out intersection operation and obtain described two
The intersection point of straightway, the intersection point is the center of the transmitting coil；
S32, projected position of the center of the receiving coil in the collected Eigen Structure is obtained；
S33, according to the deviations of the projected position and the intersection point calculation transmitting coil and receiving coil, it is described fixed
Position deviation includes range deviation and the deviation of directivity；
S34, the deviations are judged whether in preset error range, if so, entering step S341, being positioned to
Function, otherwise, enter step S35, according to the deviations control electric car angular speed and linear velocity, to electric car into
The correction of row deviations.
In the present embodiment, the deviations correction is periodically correction, after the completion of first correction cycle, is obtained
Deviations still not in preset error range, second of correction can be carried out again, moved in circles, until accurate fixed
Position success.
In the present embodiment, described to be determined according to the projected position and the intersection point calculation transmitting coil and receiving coil
Position deviation include:
Image coordinate system is established, the origin of described image coordinate system is the center of transmitting coil, the X of described image coordinate system
Axis is immediately ahead of electric car, and the Z axis of described image coordinate system is upward, and the Y direction of described image coordinate system meets right hand spiral shell
Revolve rule；
The coordinate of projected position and intersection point in described image coordinate system is obtained, is calculated straight between projected position and intersection point
Linear distance namely range deviation；Calculate the line between projected position and intersection point and angle namely the deviation of directivity between X-axis.
In the present embodiment, the vision camera visual field limitation or for sample it is convenient due to, vision camera shooting
Head only acquires the Eigen Structure immediately below it in preset range, as shown in figure 3, acquisition image when vision camera acquires is as schemed
It is indicated in middle rectangle frame, only includes l1 and l2 two lines section, and the midpoint Oc of rectangle frame is the center of receiving coil, according to
The intersection point of this two lines section can obtain the center Od of transmitting coil, and the distance between Oc and Od d are the center of receiving coil
With the projection of the line of centres of transmitting coil in the horizontal plane, according to this distance d can accurately calculate the center of receiving coil with
The distance between center of transmitting coil, then calculate between the center of receiving coil and the line of centres of transmitting coil and X-axis
Angle [alpha] can be obtained the deviation of directivity.
As another embodiment, the visual signature chart board is replaced by transmitting coil surface, also i.e. by the feature
Image is directly portrayed on the surface of transmitting coil, and this programme also may be implemented.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of intelligent positioner based on wireless charging system, the wireless charging system includes being set to electric car end
Receiving coil and be set to the transmitting coil of charging end, which is characterized in that the intelligent positioner includes: vision camera
With visual signature chart board, the vision camera is fixed on the center of the receiving coil and is directed downward, the vision
Feature chart board is attached at the upper surface of the transmitting coil, Eigen Structure is provided on the visual signature chart board, when electronic vapour
When vehicle enters intelligent positioning mode, acquired by vision camera immediately below the center of the receiving coil in preset range
Eigen Structure, the deviations of transmitting coil and receiving coil are calculated according to collected Eigen Structure, and according to described fixed
Position deviation carries out intelligent positioning to electric car；
Wherein, the deviations that transmitting coil and receiving coil are calculated according to collected Eigen Structure, and according to described
Deviations carry out intelligent positioning to electric car
Any two straightways are extracted from the collected Eigen Structure, are carried out intersection operation and are obtained two straightways
Intersection point, the intersection point is the center of the transmitting coil；
Obtain projected position of the center of the receiving coil in the collected Eigen Structure；
According to the deviations of the projected position and the intersection point calculation transmitting coil and receiving coil, the deviations packet
Include range deviation and the deviation of directivity；
The deviations are judged whether in preset error range, if so, positioning successfully, otherwise, according to the positioning
Deviation controls the angular speed and linear velocity of electric car, carries out deviations correction to electric car.
2. a kind of intelligent positioner based on wireless charging system according to claim 1, which is characterized in that the spy
Sign pattern is center radial-like streak, and the center of the Eigen Structure is overlapped with the center of the transmitting coil.
3. a kind of intelligent positioner based on wireless charging system according to claim 1, which is characterized in that described
Deviations according to the projected position and the intersection point calculation transmitting coil and receiving coil include:
Image coordinate system is established, the origin of described image coordinate system is the center of transmitting coil, and the X-axis of described image coordinate system is
Immediately ahead of electric car, the Z axis of described image coordinate system is upward, and the Y direction of described image coordinate system meets right-handed helix method
Then；
Obtain coordinate in described image coordinate system of projected position and intersection point, calculate straight line between projected position and intersection point away from
From namely range deviation；Calculate the line between projected position and intersection point and angle namely the deviation of directivity between X-axis.
4. a kind of intelligent positioner based on wireless charging system according to claim 1, which is characterized in that the intelligence
Energy positioning device further include: LED lamp bead, the LED lamp bead is set to around the vision camera, bright for enhancing visual field
Degree.
5. a kind of intelligent locating method based on wireless charging system, the wireless charging system includes being set to electric car end
Receiving coil and be set to the transmitting coil of charging end, which is characterized in that the described method includes:
Vision camera is set in the center of the receiving coil, the vision camera is directed downward；In the hair
Visual signature chart board is arranged in the upper surface of ray circle, is provided with Eigen Structure on the visual signature chart board；
When electric car enters intelligent positioning mode, under acquiring the center of the receiving coil just by vision camera
Eigen Structure in square preset range；
The deviations of transmitting coil and receiving coil are calculated according to collected Eigen Structure, and according to the deviations pair
Electric car carries out intelligent positioning；
Wherein, the deviations that transmitting coil and receiving coil are calculated according to collected Eigen Structure, and according to described
Deviations carry out intelligent positioning to electric car
Any two straightways are extracted from the collected Eigen Structure, are carried out intersection operation and are obtained two straightways
Intersection point, the intersection point is the center of the transmitting coil；
Obtain projected position of the center of the receiving coil in the collected Eigen Structure；
According to the deviations of the projected position and the intersection point calculation transmitting coil and receiving coil, the deviations packet
Include range deviation and the deviation of directivity；
The deviations are judged whether in preset error range, if so, positioning successfully, otherwise, according to the positioning
Deviation controls the angular speed and linear velocity of electric car, carries out deviations correction to electric car.
6. a kind of intelligent locating method based on wireless charging system according to claim 5, which is characterized in that the spy
Sign pattern is center radial-like streak, and the center of the Eigen Structure is overlapped with the center of the transmitting coil.
7. a kind of intelligent locating method based on wireless charging system according to claim 6, which is characterized in that described
Deviations according to the projected position and the intersection point calculation transmitting coil and receiving coil include:
Image coordinate system is established, the origin of described image coordinate system is the center of transmitting coil, and the X-axis of described image coordinate system is
Immediately ahead of electric car, the Z axis of described image coordinate system is upward, and the Y direction of described image coordinate system meets right-handed helix method
Then；
Obtain coordinate in described image coordinate system of projected position and intersection point, calculate straight line between projected position and intersection point away from
From namely range deviation；Calculate the line between projected position and intersection point and angle namely the deviation of directivity between X-axis.
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