CN109606149A - A kind of wireless charging localization method and system - Google Patents
A kind of wireless charging localization method and system Download PDFInfo
- Publication number
- CN109606149A CN109606149A CN201811258234.0A CN201811258234A CN109606149A CN 109606149 A CN109606149 A CN 109606149A CN 201811258234 A CN201811258234 A CN 201811258234A CN 109606149 A CN109606149 A CN 109606149A
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- Prior art keywords
- wireless charging
- transmitting terminal
- charging transmitting
- vehicle body
- radar
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Classifications
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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
- Y02T90/14—Plug-in electric vehicles
Abstract
The present invention relates to wireless charging technical field, a kind of wireless charging localization method and system are specifically disclosed, method includes the following steps: obtaining the location information of wireless charging transmitting terminal；According to the positional information, control vehicle body position is ajusted, and calculates the horizontal distance of wireless charging transmitting terminal and wireless charging receiving terminal, and drives running car to designated position；Ajust specially control headstock middle position alignment wireless charging transmitting terminal in the control vehicle body position, the designated position is that wireless charging receiving terminal and wireless charging transmitting terminal carry out charging position location, the present invention to adjust vehicle body position and controls running car to position location of charging by obtaining the location information of wireless charging transmitting terminal, whole process is participated in without artificial, accurate positioning improves the efficiency of charging operations and improves the usage experience sense of user.
Description
Technical field
The present invention relates to wireless charging technical field more particularly to a kind of wireless charging localization method and systems.
Background technique
Gasoline is applied to all trades and professions as a kind of main energy sources, especially with the increase of automobile use demand, automobile
Consumed gasoline is also increasing year by year, however gasoline, as a kind of non-renewable energy resources, a large amount of consumption have made people not
It obtains and does not go in face of energy shortage problem more and more prominent.
Therefore, new energy is used to have become an important research project as the power source of automobile, with the development of science and technology newly
Energy automobile has gradually developed and tends to be mature, and electric car is a kind of most common new-energy automobile, in driving procedure,
Guarantee that the power of electric car is sufficient, just must periodically or set a distance charges to automobile, in existing wireless charging
In technology, the positioning method of charging is the mark that driver observes transmitting terminal by camera, and automobile is stopped to specific position
Just can be carried out charging, this mode needs driver accurately to judge parking position, be affected by human factors it is larger, it is fixed
The accuracy of position is poor.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of without manually participating in, accurate positioning, improves charging operations
Efficiency and the wireless charging localization method and system for promoting user experience sense.
In order to solve the above technical problem, the present invention provides concrete scheme it is as follows: a kind of wireless charging localization method, should
Method the following steps are included:
Obtain the location information of wireless charging transmitting terminal；
According to the positional information, control vehicle body position is ajusted, and calculates the water of wireless charging transmitting terminal and wireless charging receiving terminal
Flat distance, and drive running car to designated position；
Ajust specially control headstock middle position alignment wireless charging transmitting terminal, the designated position in the control vehicle body position
Charging position location is carried out for wireless charging receiving terminal and wireless charging transmitting terminal.
Preferably, it is described obtain wireless charging transmitting terminal location information and control vehicle body position ajust specifically include it is following
Process:
The image information of the collected wireless charging transmitting terminal of camera pre-seted is obtained, analysis obtains wireless charging hair
Penetrate the location information at end；
Vehicle body position is adjusted, until wireless charging transmitting terminal is located at image center.
Preferably, the horizontal distance of the calculating wireless charging transmitting terminal and wireless charging receiving terminal specifically includes following mistake
Journey:
According to the positional information, the line distance being calculated between camera and wireless charging transmitting terminal two o'clock is S, it is known that
Camera and level ground height are h, calculate the level between camera and wireless charging transmitting terminal two o'clock by Pythagorean theorem
Distance M, it is known that wireless charging receiving terminal and the horizontal distance of camera are N, obtain wireless charging transmitting terminal and connect with wireless charging
Horizontal distance L=M+N of receiving end.
Preferably, described that running car to designated position is driven to specifically include following procedure: control automobile entrance is at the uniform velocity gone
Mode is sailed, speed v obtains running car time T by L/v.
Preferably, it is described obtain wireless charging transmitting terminal location information and control vehicle body position ajust specifically include it is following
Process:
The location information of the collected wireless charging transmitting terminal of multiple radars pre-seted is obtained, the multiple radar includes first
Radar and the second radar；
It adjusts the first radar and is equal to the second radar at a distance from wireless charging transmitting terminal at a distance from wireless charging transmitting terminal.
Preferably, the horizontal distance of the calculating wireless charging transmitting terminal and wireless charging receiving terminal specifically includes following mistake
Journey:
According to the positional information, be calculated line between the midpoint and wireless charging transmitting terminal two o'clock of two radars away from
From for S1, it is known that radar and level ground height are h1, and the midpoint of two radars and wireless is calculated by Pythagorean theorem
Horizontal distance M1 between the transmitting terminal two o'clock that charges, it is known that the horizontal distance of wireless charging receiving terminal and the midpoint of two radars
For N1, horizontal distance L1=M1-N1 of wireless charging transmitting terminal and wireless charging receiving terminal is obtained.
Preferably, described that running car to designated position is driven to specifically include following procedure: control automobile entrance is at the uniform velocity gone
Mode is sailed, speed v1 obtains running car time T1 by L1/v1.
Preferably, the speed v1 is 10km/h.
The present invention also provides a kind of systems applied to wireless charging localization method, the system comprises ECU, respectively with
The camera and vehicle intelligent host of ECU connection, the vehicle intelligent host are connected with car body driving unit；
The car body driving unit controls vehicle body, and the camera is set to vehicle body leading portion medium position.
The present invention also provides a kind of systems applied to wireless charging localization method, the system comprises ECU, respectively with
The radar and vehicle intelligent host of ECU connection, the vehicle intelligent host are connected with car body driving unit；
The car body driving unit controls vehicle body, and the quantity of the radar is two, is symmetrically disposed on body rear end two
Side.
Compared with prior art, the beneficial effects of the present invention are: the present invention by obtaining the position of wireless charging transmitting terminal
Confidence ceases to adjust vehicle body position and control running car to position location of charging, and whole process is participated in without artificial, and accurate positioning mentions
The high efficiency of charging operations and improve the usage experience sense of user.
Detailed description of the invention
Fig. 1 is that the position of the embodiment of the present invention one illustrates；
Fig. 2 is that the position of the embodiment of the present invention two illustrates；
Fig. 3 is the system block diagram of the embodiment of the present invention three；
Fig. 4 is the system block diagram of the embodiment of the present invention four；
Wherein, 1 is wireless charging transmitting terminal；2 be wireless charging receiving terminal；3 be camera；4 be radar.
Specific embodiment
For the technical solution that the present invention will be described in detail, below in conjunction with the attached drawing of the embodiment of the present invention, to of the invention real
The technical solution for applying example carries out clear, complete description.Obviously, described embodiment is a part of the embodiments of the present invention,
Instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art are without creativeness
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of labour.
Embodiment one:
Fig. 1 is please referred to, a kind of wireless charging localization method is present embodiments provided, method includes the following steps: obtaining wireless
The location information of charging transmitting terminal；According to the positional information, control vehicle body position is ajusted, and calculates wireless charging transmitting terminal and nothing
The horizontal distance of line charge electricity receiving end, and drive running car to designated position；The control vehicle body position, which is ajusted, specially to be controlled
Headstock middle position processed is directed at wireless charging transmitting terminal, and the designated position is wireless charging receiving terminal and wireless charging transmitting terminal
Carry out charging position location.
In the present embodiment, the image by obtaining the collected wireless charging transmitting terminal of camera pre-seted is believed
Breath, analysis adjusts vehicle body position after obtaining the location information of wireless charging transmitting terminal, until wireless charging transmitting terminal is located at image
Center, it is assumed that wireless charging transmitting terminal is a rectangle, in certain practical application, can be other polygons or irregular component
Shape etc. can be at wireless charging transmitting terminal center before the image information for acquiring wireless charging transmitting terminal by camera
Red light beacon is set, convenient for obtaining and analyzing the positional relationship of wireless charging transmitting terminal and vehicle body, naturally it is also possible in nothing
It sets characteristic area in line charge electricity transmitting terminal to be identified, for the ease of to the position between wireless charging transmitting terminal and camera
Camera is set to body structure medium position by the operation of relationship, i.e., getting wireless charging transmitting terminal, to be located at image central
When, it was demonstrated that camera is in the same plane with wireless charging transmitting terminal, and acquired image information is transferred to ECU by camera
Afterwards, ECU obtains the location information of wireless charging transmitting terminal after internal algorithm is handled, according to the positional information, meter
Calculating the line distance obtained between camera and wireless charging transmitting terminal two o'clock is S, it is known that camera is with level ground height
H calculates the horizontal distance M between camera and wireless charging transmitting terminal two o'clock by Pythagorean theorem, it is known that wireless charging receives
End and the horizontal distance of camera are N, obtain horizontal distance L=M+N of wireless charging transmitting terminal and wireless charging receiving terminal.
Calculate wireless charging transmitting terminal between wireless charging receiving terminal at a distance from after, control automobile entrance at the uniform velocity go
Mode is sailed, speed v obtains running car time T by L/v, i.e., after T time, wireless charging transmitting terminal and wireless charging
The horizontal distance of receiving end is zero, realizes the positioning charging between wireless charging transmitting terminal and wireless charging receiving terminal.
In addition, the present embodiment can also increase the detecting step of a distance threshold, setting wireless charging transmitting terminal and camera shooting
The distance threshold of head is 5m, when detecting that wireless charging transmitting terminal is less than 5m at a distance from camera, just starts to obtain wireless
The location information of charging transmitting terminal, and wireless charging transmitting terminal is ajusted and calculated in control vehicle body position according to the positional information
With the horizontal distance of wireless charging receiving terminal, and running car is driven to designated position, vehicle body is avoided to emit apart from wireless charging
The adjustment that position is carried out when holding too far, improves the accuracy of positioning.
Embodiment two:
Referring to figure 2., a kind of wireless charging localization method provided in this embodiment, method includes the following steps: obtaining wireless
The location information of charging transmitting terminal；According to the positional information, control vehicle body position is ajusted, and calculates wireless charging transmitting terminal and nothing
The horizontal distance of line charge electricity receiving end, and drive running car to designated position；The control vehicle body position, which is ajusted, specially to be controlled
Headstock middle position processed is directed at wireless charging transmitting terminal, and the designated position is wireless charging receiving terminal and wireless charging transmitting terminal
Carry out charging position location.
In the present embodiment, by obtaining the location information of the collected wireless charging transmitting terminal of multiple radars pre-seted,
Multiple radars include the first radar and the second radar；It adjusts the first radar and is equal to the second radar at a distance from wireless charging transmitting terminal
It, will for the ease of the operation to the positional relationship between wireless charging transmitting terminal and radar at a distance from wireless charging transmitting terminal
Two radars are respectively symmetrically set to body rear end two sides, are able to detect that wireless charging transmitting terminal, for the ease of radar inspection
It surveys, an induction radar can be set at wireless charging transmitting terminal in the present embodiment, to improve positioning accurate parasexuality, by the inductive lightning
Up to being set at the center of wireless charging transmitting terminal, after the signal that the first radar and the second radar detect induction radar respectively,
The first radar, the second radar are constantly adjusted respectively at a distance from wireless charging transmitting terminal, i.e., at a distance from induction radar, first
When radar is equal to the second radar at a distance from wireless charging transmitting terminal at a distance from wireless charging transmitting terminal, it was demonstrated that at this time in headstock
Between position alignment wireless charging transmitting terminal, i.e. vehicle body ajusted.
According to the positional information, the company between the midpoint and wireless charging transmitting terminal two o'clock of two radars is calculated
Linear distance is S1, it is known that radar and level ground height are h1, by Pythagorean theorem be calculated the midpoints of two radars with
Horizontal distance M1 between wireless charging transmitting terminal two o'clock, it is known that the level of wireless charging receiving terminal and the midpoint of two radars
Distance is N1, obtains horizontal distance L1=M1-N1 of wireless charging transmitting terminal and wireless charging receiving terminal.
Calculate wireless charging transmitting terminal between wireless charging receiving terminal at a distance from after, control automobile entrance at the uniform velocity go
Mode is sailed, speed v1 obtains running car time T1 by L1/v1, i.e., after the T1 time, wireless charging transmitting terminal and wireless
The horizontal distance of charging receiving end is zero, realizes the positioning charging between wireless charging transmitting terminal and wireless charging receiving terminal.
In order to reasonably control the speed that drives at a constant speed of automobile, v1 is set as 10km/h in the present embodiment, i.e., should
Speed will not bring sense of insecurity due to too fast or cause driver to feel to waste time due to excessively slow, in addition, the present embodiment is also
The detecting step that a distance threshold can be increased sets the distance threshold of wireless charging transmitting terminal and radar as 10m, is detecting
Wireless charging transmitting terminal at a distance from radar be less than 10m when, just start obtain wireless charging transmitting terminal location information, and according to
The horizontal distance of wireless charging transmitting terminal and wireless charging receiving terminal is ajusted and calculated in location information control vehicle body position,
And drive running car to designated position, avoid vehicle body apart from wireless charging transmitting terminal too far when carry out the adjustment of position, mention
The accuracy of height positioning.
Embodiment three:
Referring to figure 3., present embodiments provide a kind of system applied to wireless charging localization method, the system comprises ECU,
The camera and vehicle intelligent host connecting respectively with ECU, vehicle intelligent host are connected with car body driving unit；Vehicle body driving is single
Member controls vehicle body, and camera is set to vehicle body leading portion medium position, specifically, camera acquisition wireless charging transmitting terminal
Image information is simultaneously transferred to ECU, after ECU is connected to image information, is handled by internal algorithm, obtains wireless charging transmitting terminal
Location information, and vehicle body smart host is transferred to by CAN bus, after vehicle body smart host receives CAN signal, by sentencing
Disconnected processing, the order of Body Control is sent to car body driving unit, after car body driving unit receives CAN signal, to vehicle body into
Row control, drives running car to designated position.
Example IV:
Referring to figure 4., present embodiments provide a kind of system applied to wireless charging localization method, the system comprises ECU,
The radar and vehicle intelligent host connecting respectively with ECU, vehicle intelligent host are connected with car body driving unit；Car body driving unit
Vehicle body is controlled, the quantity of the radar is two, body rear end two sides is symmetrically disposed on, specifically, radar acquires nothing
The location information of line charge electricity transmitting terminal is simultaneously transferred to ECU, after ECU is connected to location information, is handled, is passed through by internal algorithm
CAN bus is transferred to vehicle body smart host and handles after vehicle body smart host receives CAN signal by judgement, drives to vehicle body
Unit sends the order of Body Control, after car body driving unit receives CAN signal, controls vehicle body, drives garage
Sail to designated position.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (10)
1. a kind of wireless charging localization method, which is characterized in that method includes the following steps:
Obtain the location information of wireless charging transmitting terminal；
According to the positional information, control vehicle body position is ajusted, and calculates the water of wireless charging transmitting terminal and wireless charging receiving terminal
Flat distance, and drive running car to designated position；
Ajust specially control headstock middle position alignment wireless charging transmitting terminal, the designated position in the control vehicle body position
Charging position location is carried out for wireless charging receiving terminal and wireless charging transmitting terminal.
2. wireless charging localization method according to claim 1, which is characterized in that the acquisition wireless charging transmitting terminal
Location information and control vehicle body position ajust and specifically include following procedure:
The image information of the collected wireless charging transmitting terminal of camera pre-seted is obtained, analysis obtains wireless charging hair
Penetrate the location information at end；
Vehicle body position is adjusted, until wireless charging transmitting terminal is located at image center.
3. wireless charging localization method according to claim 2, which is characterized in that the calculating wireless charging transmitting terminal with
The horizontal distance of wireless charging receiving terminal specifically includes following procedure:
According to the positional information, the line distance being calculated between camera and wireless charging transmitting terminal two o'clock is S, it is known that
Camera and level ground height are h, are calculated between camera and wireless charging transmitting terminal two o'clock by Pythagorean theorem
Horizontal distance M, it is known that wireless charging receiving terminal and the horizontal distance of camera are N, obtain wireless charging transmitting terminal and wireless charging
Horizontal distance L=M+N of electric receiving end.
4. wireless charging localization method according to claim 3, which is characterized in that described to drive running car to specific bit
Set and specifically include following procedure: control automobile, which enters, drives at a constant speed mode, and speed v obtains running car time T by L/v.
5. wireless charging localization method according to claim 1, which is characterized in that the acquisition wireless charging transmitting terminal
Location information and control vehicle body position ajust and specifically include following procedure:
The location information of the collected wireless charging transmitting terminal of multiple radars pre-seted is obtained, the multiple radar includes first
Radar and the second radar；
It adjusts the first radar and is equal to the second radar at a distance from wireless charging transmitting terminal at a distance from wireless charging transmitting terminal.
6. wireless charging localization method according to claim 5, which is characterized in that the calculating wireless charging transmitting terminal with
The horizontal distance of wireless charging receiving terminal specifically includes following procedure:
According to the positional information, be calculated line between the midpoint and wireless charging transmitting terminal two o'clock of two radars away from
From for S1, it is known that radar and level ground height are h1, and the midpoint of two radars and wireless is calculated by Pythagorean theorem
Horizontal distance M1 between the transmitting terminal two o'clock that charges, it is known that the horizontal distance of wireless charging receiving terminal and the midpoint of two radars
For N1, horizontal distance L1=M1-N1 of wireless charging transmitting terminal and wireless charging receiving terminal is obtained.
7. wireless charging localization method according to claim 6, which is characterized in that described to drive running car to specific bit
Set and specifically include following procedure: control automobile, which enters, drives at a constant speed mode, speed v1, when obtaining running car by L1/v1
Between T1.
8. wireless charging localization method according to claim 7, it is characterised in that: the speed v1 is 10km/h.
9. a kind of system applied to wireless charging localization method of any of claims 1-4, it is characterised in that: institute
The system of stating includes ECU, the camera connecting respectively with ECU and vehicle intelligent host, and the vehicle intelligent host is connected with vehicle body
Driving unit；
The car body driving unit controls vehicle body, and the camera is set to vehicle body leading portion medium position.
10. a kind of system applied to wireless charging localization method described in any one of claim 1 or 5-8, feature exist
In: the radar and vehicle intelligent host connecting the system comprises ECU, respectively with ECU, the vehicle intelligent host are connected with vehicle
Body driving unit；
The car body driving unit controls vehicle body, and the quantity of the radar is two, is symmetrically disposed on body rear end two
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811258234.0A CN109606149A (en) | 2018-10-26 | 2018-10-26 | A kind of wireless charging localization method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811258234.0A CN109606149A (en) | 2018-10-26 | 2018-10-26 | A kind of wireless charging localization method and system |
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| CN109606149A true CN109606149A (en) | 2019-04-12 |
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ID=66002996
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| CN201811258234.0A Pending CN109606149A (en) | 2018-10-26 | 2018-10-26 | A kind of wireless charging localization method and system |
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| CN108162860A (en) * | 2018-01-17 | 2018-06-15 | 中国铁道科学研究院 | A kind of vehicle guiding aided management system and vehicle guidance method |
| CN111186320A (en) * | 2020-03-04 | 2020-05-22 | 中兴新能源汽车有限责任公司 | Wireless charging guiding and positioning system and method and vehicle-mounted equipment |
| CN112026549A (en) * | 2020-08-12 | 2020-12-04 | 上海万暨电子科技有限公司 | Vehicle alignment guiding system and method for wireless charging system |
| CN117073583A (en) * | 2023-08-15 | 2023-11-17 | 中汽研汽车检验中心(武汉)有限公司 | Measuring device for measuring maximum width of turning channel |
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Application publication date: 20190412 |