CN110058200A - The position bootstrap technique and system of wireless charging vehicle - Google Patents
The position bootstrap technique and system of wireless charging vehicle Download PDFInfo
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- CN110058200A CN110058200A CN201910450679.7A CN201910450679A CN110058200A CN 110058200 A CN110058200 A CN 110058200A CN 201910450679 A CN201910450679 A CN 201910450679A CN 110058200 A CN110058200 A CN 110058200A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
- G01S1/80—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional transducers or transducer systems spaced apart, i.e. path-difference systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention discloses a kind of position bootstrap technique of wireless charging vehicle and systems, are related to vehicle-mounted charge technology.Wherein, applied to the method for control unit include: obtain multiple ultrasound transmitter devices send ultrasonic signals each first time information and multiple ultrasonic receivers receive corresponding ultrasound transmitter device ultrasonic signal each second temporal information；According to each first time information, the spread speed of each second temporal information and ultrasonic signal, the distance between each ultrasonic receiver and corresponding ultrasound transmitter device are obtained；Determine the first coordinate value information of fixed charging equipment and the second coordinate value information of vehicle-mounted charging equipment；According to the first coordinate value information and the second coordinate value information, the relative position of fixed charging equipment and vehicle-mounted charging equipment is determined, and position guidance is carried out to wireless charging vehicle depending on the relative position.Cost of installation and use of the present invention is lower, can greatly promote measurement accuracy and reliability.
Description
Technical field
The present invention relates to vehicle-mounted charge technologies, a kind of position bootstrap technique more particularly to wireless charging vehicle and are
System.
Background technique
Electric car can well solve vehicle emission pollution and fossil energy shortage problem, two electric vehicles development master
Want restraining factors first is that charging convenience.But traditional wired charging technology face such as inconvenient for operation, safety compared with
Bad etc. many restrictions of low, user experience.Wireless charging technology can be used family and be not felt by filling for electric car completely
Electric process greatly promotes the ease of use of electric car.
However, the relative position of fixed charging equipment and vehicle-mounted charging equipment is to using wireless during wireless charging
Transimission power, efficiency and electromagnetic radiation when charging system is charged etc. have a major impact, and need reliable position guidance skill
Art makes the relative position of fixed charging equipment and vehicle-mounted charging equipment in preset position range.Existing wireless charging vehicle
Position guidance generally is carried out using several methods such as magnetic field induction, Optical image analysis, increase ground aid parking structures, these
Method is influenced very greatly by the environment of fabricating yard or periphery, and low measurement accuracy, installation cost are high, reliability is lower.
Summary of the invention
In view of this, the main purpose of the present invention is to provide a kind of position bootstrap technique of wireless charging vehicle, the party
For method to the of less demanding of fabricating yard, cost of installation and use is lower, can greatly promote measurement accuracy and reliability.
In order to achieve the above object, technical solution proposed by the present invention are as follows:
In a first aspect, being applied to control the embodiment of the invention provides a kind of position bootstrap technique of wireless charging vehicle
Unit, comprising:
The each first time information and multiple ultrasonic waves for obtaining multiple ultrasound transmitter devices transmission ultrasonic signals connect
Receive each second temporal information that device receives the ultrasonic signal of corresponding ultrasound transmitter device；
According to the propagation of each first time information, each second temporal information and ultrasonic signal speed
Degree, obtains the distance between each ultrasonic receiver and corresponding ultrasound transmitter device；
According to preset coordinate system, the first coordinate value information of fixed charging equipment is determined, and according to the fixed charging
The distance between first coordinate value information of equipment, each ultrasound signal receipt device and corresponding ultrasound transmitter device and
The sending direction of ultrasonic signal determines the second coordinate value information of vehicle-mounted charging equipment；
According to first coordinate value information and second coordinate value information, the fixed charging equipment and described is determined
The relative position of vehicle-mounted charging equipment, and position guidance is carried out to wireless charging vehicle depending on that relative position.
In a kind of possible embodiment, it is described according to each first time information, each second time letter
Breath and the ultrasonic signal spread speed, obtain between each ultrasonic receiver and corresponding ultrasound transmitter device away from
From the step of before, the method also includes；
Obtain temperature information；
The spread speed of ultrasonic wave when according to the temperature information and temperature being zero degrees celsius, determines the ultrasonic wave letter
Number spread speed.
In a kind of possible embodiment, each first time for obtaining multiple ultrasound transmitter devices and sending ultrasonic waves
Before information, the method also includes:
Judge the distance between the fixed charging equipment and described vehicle-mounted charging equipment whether be less than or equal to it is preset away from
From threshold value；
Distance between the fixed charging equipment and the vehicle-mounted charging equipment is less than or equal to preset distance threshold
In the case where, it controls the ultrasound transmitter device and starts to send the ultrasonic signal.
In a kind of possible embodiment, each first time for obtaining multiple ultrasound transmitter devices and sending ultrasonic waves
Before information, the method also includes:
Time synchronization is carried out between the ultrasound transmitter device and the corresponding ultrasonic receiver.
Second aspect, the embodiment of the present invention also provide a kind of position bootstrap technique of wireless charging vehicle, are applied to ultrasound
Wave transmission unit, comprising:
Beacon coding information is generated, and the beacon coding information is loaded onto the ultrasonic signal；The beacon is compiled
Code information is for identifying each ultrasound transmitter device；
The described of the beacon coding information is loaded with by the transmission of multiple ultrasound transmitter devices at predetermined intervals
Ultrasonic signal；
Record sends the first time information of the ultrasonic signal, and the first time information is sent to control list
Member.
The third aspect, the embodiment of the present invention also provide a kind of position bootstrap technique of wireless charging vehicle, are applied to ultrasound
Wave receiving unit, comprising:
Obtain the beacon coding information loaded in ultrasonic signal；The ultrasonic signal is to pass through ultrasonic receiver
The ultrasonic signal that received ultrasound transmitter device is sent；The beacon coding information is sent for identifying each ultrasonic wave
Device；
According to the beacon coding information, the ultrasound transmitter device for sending the ultrasonic signal is judged, if be described
The corresponding ultrasound transmitter device of ultrasonic receiver；
If so, record receives the second temporal information of the ultrasonic signal, and second temporal information is sent out
Give control unit.
Fourth aspect, is based on identical design concept, and the embodiment of the present invention also provides a kind of position of wireless charging vehicle
Guidance system, comprising:
Control unit, ultrasonic wave transmission unit and ultrasonic wave receiving unit；
Described control unit is connect with the ultrasonic wave transmission unit and/or the ultrasonic wave receiving unit respectively；
Described control unit is used to obtain each first time information that multiple ultrasound transmitter devices send ultrasonic signal,
And multiple ultrasonic receivers receive each second temporal information of the ultrasonic signal of corresponding ultrasound transmitter device；
According to each first time information, the spread speed of each second temporal information and the ultrasonic signal, obtain
The distance between each ultrasonic receiver and corresponding ultrasound transmitter device；According to preset coordinate system, fixed charging is determined
The coordinate value information of equipment, and according to the coordinate value information of the fixed charging equipment and each ultrasound signal receipt device
The distance between corresponding ultrasound transmitter device, determines the coordinate value information of vehicle-mounted charging equipment；According to the fixed charging
The coordinate value information of the coordinate value information of equipment and the vehicle-mounted charging equipment determines the fixed charging equipment and described vehicle-mounted
The relative position of charging equipment, and position guidance is carried out to wireless charging vehicle depending on that relative position；
Wherein, the ultrasonic wave transmission unit, comprising: send control module, signal modulation module, ultrasonic wave and module occurs
With multiple ultrasound transmitter devices；It is described super to be also used to record transmission for generating beacon coding information for the transmission control module
The first time information of acoustic signals, and the first time information is sent to control unit；The signal modulation module is used
In the beacon coding information is loaded onto the ultrasonic signal；The ultrasonic wave occurs module and is used between the preset time
Every the ultrasonic signal for being loaded with the beacon coding information by the transmission of multiple ultrasound transmitter devices；
The ultrasonic wave receiving unit, comprising: receive control module and multiple ultrasonic receivers；The reception controls mould
Block, for obtaining the beacon coding information loaded in ultrasonic signal；It is also used to judge to send according to the beacon coding information
The ultrasound transmitter device of the ultrasonic signal, if be the corresponding ultrasound transmitter device of the ultrasonic receiver；If so,
Record receives the second temporal information of the ultrasonic signal, and second temporal information is sent to control unit；Institute
Ultrasonic receiver is stated for receiving the ultrasonic signal that ultrasound transmitter device is sent.
In a kind of possible embodiment, the ultrasonic receiver is identical as the number of the ultrasound transmitter device, and
Each ultrasonic receiver and each ultrasound transmitter device correspond.
In a kind of possible embodiment, described control unit respectively with the ultrasonic wave transmission unit and/or described super
It is connected by wireless communication between acoustic receiver unit.
In a kind of possible embodiment, the system also includes: temperature collecting cell；
The temperature collecting cell is connect with described control unit；
Described control unit is also used to obtain temperature information, and when being zero degrees celsius according to the temperature information and temperature
The spread speed of ultrasonic wave determines the spread speed of the ultrasonic signal.
In conclusion the present invention carries out position guidance using ultrasonic signal, according to preset coordinate system, determine that fixation is filled
First coordinate value information of electric equipment, according to the first coordinate value information of fixed charging equipment and each ultrasound signal receipt device
The distance between corresponding ultrasound transmitter device determines the second coordinate value information of vehicle-mounted charging equipment, according to the first coordinate
Value information and the second coordinate value information determine the relative position of fixed charging equipment and vehicle-mounted charging equipment, and according to opposite position
It sets and position guidance is carried out to wireless charging vehicle.Position guidance is carried out using ultrasonic signal, to the of less demanding of fabricating yard,
It is easy to install and use, at low cost, measurement accuracy and reliability can be greatly promoted, is existed so that wireless charging system be greatly improved
Ease of use on electric car is also of great significance to promotion wireless charging technology and the universal of electric car.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of the present invention one；
Fig. 2 is the flow diagram of the embodiment of the present invention two；
Fig. 3 is the flow diagram of the embodiment of the present invention three；
Fig. 4 is the flow diagram of the embodiment of the present invention four；
Fig. 5 is the structural schematic diagram of the embodiment of the present invention five；
Fig. 6 is the configuration mode example of a kind of ultrasound transmitter device and ultrasonic receiver；
System structure diagram when Fig. 7 is adaptable wireless charging system of the embodiment of the present invention.
Specific embodiment
During wireless charging, the relative position of fixed charging equipment and vehicle-mounted charging equipment is to using wireless charging system
Transimission power, efficiency and electromagnetic radiation etc. when system is charged have a major impact, and need reliable position bootstrap technique, make solid
The relative position of charging equipment and vehicle-mounted charging equipment is determined in preset position range.
Existing wireless charging vehicle generally uses magnetic field induction, Optical image analysis, increases ground aid parking structure
Equal several methods carry out position guidance.
The principle of magnetic field induction are as follows: using original charge power transmission coil or increase ancillary coil, lead in coil
It overdrives and generates low power magnetic field or low frequency magnetic field, and by parameters such as measurement magnetic field strength, magnetic vectors to obtain fixed charging
The relative position of charge power transmission coil in equipment and vehicle-mounted charging equipment.But magnetic field induction method is by fabricating yard or periphery
Environment influence it is very big, for example, using ground launch coil as fixed charging equipment when, the fabricating yard of ground launch coil
In the interference of the metal objects such as contained reinforcing bar, parking stall or the interference of the metal material object on periphery, other parking vehicles it is dry
It disturbs, also, the detection method operating distance of magnetic field induction is short, measurement accuracy is poor, response speed is slow, stability is poor, Wu Fashi
Answer complicated actual implementation demand.
Optical image analysis is the technology that position guidance is carried out by the image that image capture device obtains.Optical imagery point
Analysis technology is restricted by factors such as ambient lights, and cost of installation and use is high, reliability is lower.
The position bootstrap technique for increasing ground aid parking structure is handling poor, it is not easy to and existing intelligent parking system
System combines, and generally aid parking structure can only be arranged according to the fixed type of vehicle of a certain kind, and cost of installation and use is higher, and
Aligning accuracy is not also high.
In view of this, the present invention carries out position guidance using ultrasonic signal, compared with prior art, there is installation and make
With convenient, at low cost, fast response time, anti-electromagnetic interference capability is strong, is not illuminated by the light the features such as influencing with smog, using by super
When acoustic signals carry out position guidance, a millimeter class precision may be implemented when short distance positions, can satisfy wireless charging completely
System coil position real-time detection and contraposition require, and electric car can correctly be guided to be docked in wireless charging system work most
High-power point or pressure point of maximum efficiency, so that ease of use of the wireless charging on electric car is greatly improved, it is wireless to pushing
Charging technique and the universal of electric car are also of great significance.
To make the object, technical solutions and advantages of the present invention clearer, right below in conjunction with the accompanying drawings and the specific embodiments
The present invention is described in further detail.
Embodiment one
Fig. 1 is the flow diagram for the position bootstrap technique that the embodiment of the present invention one provides, and is applied to control unit, such as schemes
Shown in 1, which is specifically included that
S101: multiple ultrasound transmitter devices are obtained and send each first time information of ultrasonic signals and multiple super
Acoustic receiver receives each second temporal information of the ultrasonic signal of corresponding ultrasound transmitter device.
Here, in order to be accurately positioned and carry out position guidance, at least two ultrasound transmitter devices, ultrasonic receiver are needed
Number it is identical as the number of ultrasound transmitter device, and corresponded between ultrasound transmitter device and ultrasonic receiver.
In order to facilitate implementation, each first time information that each ultrasound transmitter device sends ultrasonic signal can phase
Together, of course, in actual implementation, each first time information that each ultrasound transmitter device sends ultrasonic signal can also be with
It is not identical.
Since the distance between each ultrasonic receiver and corresponding ultrasound transmitter device and relative position are different, each
Each second temporal information that ultrasonic receiver receives the ultrasonic signal of corresponding ultrasound transmitter device can not phase
Together.
Since the method for carrying out position guidance using ultrasound information is done well in short distance, it is more obtaining
Before a ultrasound transmitter device sends each first time information of ultrasonic wave, the fixed charging equipment and institute can be first judged
State whether the distance between vehicle-mounted charging equipment is less than or equal to preset distance threshold.Specifically, fixed charging equipment and vehicle-mounted
Farther out, fixed the distance between charging equipment and vehicle-mounted charging equipment are greater than preset apart from threshold the distance between charging equipment
Value, for example, in the case that fixed the distance between charging equipment and vehicle-mounted charging equipment are greater than 30 meters, can be used GPS,
The navigator fixs such as WIFI, mobile network, car networking mode tentatively guides vehicle to drive towards and is equipped with position provided in an embodiment of the present invention
Set the parking stall of guidance system.Distance between fixed charging equipment and vehicle-mounted charging equipment is less than or equal to preset apart from threshold
In the case where value, then controls ultrasound transmitter device and start to send ultrasonic signal.Ultrasonic signal is begun to use to carry out wireless charging
The position of electric car guides.
S102: according to each first time information, each second temporal information and the ultrasonic signal
Spread speed obtains the distance between each ultrasonic receiver and corresponding ultrasound transmitter device.
The second temporal information of the ultrasonic signal of corresponding ultrasound transmitter device and right is received by ultrasonic receiver
The ultrasound transmitter device answered sends the difference of the first time information of ultrasonic signal, ultrasonic transmission time T can be obtained, under
The distance between the available each ultrasonic receiver of column formula (1) and corresponding ultrasound transmitter device:
D=CT (1)
Wherein, C is the spread speed of ultrasonic wave.
Since the distance between each ultrasonic receiver and corresponding ultrasound transmitter device are believed according to each first time
The spread speed of breath, each second temporal information and ultrasonic signal determines, therefore, in order to which each ultrasonic wave being calculated connects
It is more accurate to receive the distance between device and corresponding ultrasound transmitter device, so that fixed charging equipment and vehicle be determined more accurately
The relative position between charging equipment is carried, in the letter of each first time for obtaining multiple ultrasound transmitter devices transmission ultrasonic signals
Before breath, time synchronization is carried out between ultrasound transmitter device and corresponding ultrasonic receiver.
Specifically, can wirelessly or non-wirelessly be led to by WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc.
Letter mode obtains the current time information of ultrasound transmitter device and corresponding ultrasonic receiver, can be according to ultrasound transmitter device
Current time the current time of corresponding ultrasonic receiver is synchronized, can also be according to the current of ultrasonic receiver
Time synchronizes the current time of corresponding ultrasound transmitter device.
Since the spread speed of ultrasonic signal is easy to be affected by the ambient temperature, according to described each
The spread speed of one temporal information, each second temporal information and the ultrasonic signal obtains each ultrasonic wave and receives
Before the step of the distance between device and corresponding ultrasound transmitter device, available temperature information；And believed according to the temperature
The spread speed of ultrasonic wave when breath and temperature are zero degrees celsius, determines the spread speed of the ultrasonic signal.Specifically, can
The spread speed of ultrasonic signal is determined according to temperature information using following formula (2):
Wherein, r is the ratio of gas level pressure thermal capacitance and constant volume thermal capacitance, and in air, the value of r is 1.40.R is that gas is general
Suitable constant: 8.314kgmol-1K-1.M is molecular weight gas, and the molecular weight gas of air is M28.8 × 10-3kg
mol-1.T is absolute temperature, 273K+T DEG C.In air, above-mentioned formula (2) can be approximated to be formula (3):
C=C0+0.607 × T (3)
Wherein, ultrasonic velocity when C0 is zero degree, C0 332m/s, T are actual temperature (DEG C).Therefore, it can use
The spread speed of ultrasonic wave when formula (3) according to temperature information and temperature is zero degrees celsius, determines the propagation of ultrasonic signal
Speed.In addition, to further increase precision the other parameters such as humidity, wind speed, air pressure can also be obtained, and according to corresponding public affairs
Formula calculates the spread speed C according to the compensated ultrasonic signal of the parameters such as humidity, wind speed, air pressure.
In the actual implementation process, it is logical can to pass through WIFI, radio frequency respectively for first time information and/or the second temporal information
The communications such as letter, Zigbee, bluetooth, millimeter wave, optic communication are sent to control unit, can also be by wire communication side
Formula is sent to control unit.
S103: according to preset coordinate system, the first coordinate value information of fixed charging equipment is determined, and according to the fixation
Between first coordinate value information of charging equipment, each ultrasound signal receipt device and corresponding ultrasound transmitter device away from
From the sending direction with ultrasonic signal, the second coordinate value information of vehicle-mounted charging equipment is determined.
Here, preset coordinate system is generally established according to fixed charging equipment, for example, being sent out according to the ground for being fixed on ground
Ray circle is established.The origin of above-mentioned preset coordinate system can be arbitrarily arranged, such as be located at the midpoint of fixed charging equipment.Due to
Fixed charging equipment is usually quadrangle, and the origin of preset coordinate system can also be located to a certain angle of fixed charging equipment.
Of course, it is possible to the origin of preset coordinate system is located at the certain point outside fixed charging equipment, such as to the ground for being fixed on ground
The origin of preset coordinate system can be set as the certain point on ground by transmitting coil.Coordinate system horizontally and vertically generally according to
The side of the origin of preset coordinate system and fixed charging equipment determines.Since fixed charging equipment is usually quadrangle, especially
Fixed charging equipment is usually to be horizontally and vertically set as putting down with the side of fixed charging equipment by coordinate system in rectangular situation
The straight line of origin capable, by coordinate system.
According to the position of preset coordinate system and fixed charging equipment guidance datum mark and preset coordinate origin it
Between relative position, can determine the first coordinate value information of fixed charging equipment.In the feelings that fixed charging equipment is square
Under condition, four angles for generalling use fixed charging equipment guide datum mark as the position of fixed charging equipment, therefore fixation is filled
First coordinate value information of electric equipment is usually four angles of fixed charging equipment in preset coordinate system, relative to preset
The position coordinates of the origin of coordinate system.
Above-mentioned multiple ultrasound transmitter devices may be mounted at fixed charging equipment side, also may be mounted at vehicle-mounted charge and sets
Standby side, when above-mentioned multiple ultrasound transmitter devices are mounted on fixed charging equipment side, corresponding ultrasonic receiver installation
In vehicle-mounted charging equipment side, vice versa.No matter above-mentioned multiple ultrasound transmitter devices are mounted on which side, send ultrasonic wave letter
Number, and according to each first time information, the spread speed of each second temporal information and the ultrasonic signal,
The method for obtaining the distance between each ultrasonic receiver and corresponding ultrasound transmitter device is constant.
In the case that above-mentioned multiple ultrasound transmitter devices are mounted on fixed charging equipment side, according to the fixed charging
The distance between first coordinate value information of equipment, each ultrasound signal receipt device and corresponding ultrasound transmitter device and
The sending direction of ultrasonic signal can determine the second coordinate value information of vehicle-mounted charging equipment using following step 1- step 3:
Step 1, the relative position for obtaining each ultrasound transmitter device and fixed charging equipment, send according to each ultrasonic wave
First coordinate value information of the relative position and fixed charging equipment of device and fixed charging equipment, determines each ultrasonic wave hair
Send the position coordinates of device.
Step 2, the position coordinates according to each ultrasound transmitter device, each ultrasound signal receipt device and corresponding ultrasound
The sending direction of the distance between wave transmitter and ultrasonic signal determines the position coordinates of each ultrasound signal receipt device.
Step 3 is filled according to the position coordinates and each ultrasonic receiver of each ultrasound signal receipt device with vehicle-mounted
The relative position of electric equipment determines the second coordinate value information of vehicle-mounted charging equipment.
Similarly, in the case that above-mentioned multiple ultrasonic receivers are mounted on fixed charging equipment side, according to described solid
Determine between the first coordinate value information, each ultrasound signal receipt device and the corresponding ultrasound transmitter device of charging equipment
The sending direction of distance and ultrasonic signal can determine the second coordinate of vehicle-mounted charging equipment using following step 1- step 3
Value information:
Step 1, the relative position for obtaining each ultrasonic receiver and fixed charging equipment, receive according to each ultrasonic wave
First coordinate value information of the relative position and fixed charging equipment of device and fixed charging equipment, determines that each ultrasonic wave connects
Receive the position coordinates of device.
Step 2, the position coordinates according to each ultrasonic receiver, each ultrasonic signal transmitter and corresponding ultrasound
The sending direction of the distance between wave receiver and ultrasonic signal determines the position coordinates of each ultrasonic signal transmitter.
Step 3 is filled according to the position coordinates and each ultrasound transmitter device of each ultrasonic signal transmitter with vehicle-mounted
The relative position of electric equipment determines the second coordinate value information of vehicle-mounted charging equipment.
In general, vehicle-mounted charging equipment is also square, therefore, the second coordinate value information of vehicle-mounted charging equipment is generally also
It is coordinate value of four angles of vehicle-mounted charging equipment relative to the origin of preset coordinate system.
S104: according to first coordinate value information and second coordinate value information, the fixed charging equipment is determined
With the relative position of the vehicle-mounted charging equipment, and depending on that relative position to wireless charging vehicle carry out position guidance.
Here, common ranging and position algorithm in any ultrasonic wave location technology also can be used and determine fixed charging
The relative position of equipment and vehicle-mounted charging equipment, including but not limited to: arrival time (Time of Arrival, TOA) reaches
Time difference (Time Difference of Arrival, TDOA), angle of arrival (Angle-of-Arrival, AOA), signal are strong
Spend (Received Signal Strength Indication, RSSI) and flight time (Time of flight, TOF) etc.
These methods can also be applied in combination to obtain higher positioning accuracy in algorithm.In the bootup process of position, in addition to obtaining first
Other than temporal information and the second temporal information, it may also include other information necessary to ranging and position algorithm, such as speed, angle
The information such as degree, intensity, phase, environment temperature, number of pulses.
Specifically, the relative position of fixed charging equipment and vehicle-mounted charging equipment can be directly displayed to driver,
Can also be according to the relative position of fixed charging equipment and vehicle-mounted charging equipment, generating and providing to driver includes traveling side
To the position guide information of, relative distance etc..
Embodiment two
As shown in Fig. 2, being the flow diagram of position bootstrap technique provided by Embodiment 2 of the present invention, it is applied to ultrasonic wave
Transmission unit, the embodiment specifically include that
S201: beacon coding information is generated, and the beacon coding information is loaded onto the ultrasonic signal；The letter
Mark encoded information is for identifying each ultrasound transmitter device.
Beacon coding information can be generated using any common beacon coding mode, for example, can be pre- using one
If the string of binary characters of length is as beacon coding information.And by signal modulation, beacon coding information is loaded onto ultrasound
The beacon coding information of wave signal, each ultrasound transmitter device is different.
Here, different beacon coding information can be generated when positioning every time, and the beacon coding information of generation is passed through
Wirelessly or non-wirelessly communication mode is sent to control unit for WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc., then
Corresponding ultrasonic wave receiving unit is sent to by control unit, so that ultrasonic wave receiving unit is according to beacon coding information, is determined
The whether corresponding ultrasonic wave transmission unit of the ultrasonic signal received is sent.Directly the beacon coding of generation can also be believed
By WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc., wirelessly or non-wirelessly communication mode is sent to ultrasonic wave to breath
Receiving unit.
S202: the beacon coding information is loaded with by the transmission of multiple ultrasound transmitter devices at predetermined intervals
The ultrasonic signal.
It is logical mainly according to the positioning of the movement speed of vehicle and demand that above-mentioned ultrasonic signal sends preset time interval
Precision determines, such as the rough distance that can be obtained according to modes such as navigator fixs is calculated.In a kind of possible embodiment party
In formula, due to carrying out vehicle-mounted charging equipment and fixed charging on the parking stall that vehicle parking to device is had to wireless charging system
During the position alignment of equipment, the travel speed of vehicle is unhappy, and therefore, preset time interval mainly needs to meet positioning
Precision, it is assumed that when carrying out position guidance, car speed is 100mm/s, to obtain mm grades of real-time accuracy it is necessary to less than 0.01
Second is preset time interval, sends ultrasonic signal with the frequency less than 0.01 second 1 time.
S203: record sends the first time information of the ultrasonic signal, and the first time information is sent to
Control unit.
Specifically, can wirelessly or non-wirelessly be led to by WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc.
First time information is sent to control unit by letter mode.
Embodiment three
As shown in figure 3, the flow diagram of the position bootstrap technique provided for the embodiment of the present invention three, is applied to ultrasonic wave
Receiving unit, the embodiment specifically include that
S301: the beacon coding information loaded in ultrasonic signal is obtained；The ultrasonic signal is to be connect by ultrasonic wave
Receive the ultrasonic signal that the received ultrasound transmitter device of device is sent；The beacon coding information is for identifying each ultrasonic wave
Transmitter.
In obtaining ultrasonic signal before the beacon coding information that loads, can by WIFI, radio communication,
Wirelessly or non-wirelessly communication mode obtains the beacon coding of corresponding ultrasound transmitter device for Zigbee, bluetooth, millimeter wave, optic communication etc.
Information.
S302: according to the beacon coding information, judge the ultrasound transmitter device for sending the ultrasonic signal, if be
The corresponding ultrasound transmitter device of the ultrasonic receiver.
Specifically, being compiled according to the beacon of the beacon coding information and corresponding ultrasound transmitter device loaded in ultrasonic signal
Code information is judged, the letter of the beacon coding information and corresponding ultrasound transmitter device that judge to load in ultrasonic signal is passed through
Mark whether encoded information is identical, and whether the ultrasound transmitter device for judging to send the ultrasonic signal is the ultrasonic receiver
Corresponding ultrasound transmitter device.
S303: if so, record receives the second temporal information of the ultrasonic signal, and second time is believed
Breath is sent to control unit.
Specifically, can wirelessly or non-wirelessly be led to by WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc.
Second temporal information is sent to control unit by letter mode.
If not, not recording this second temporal information for receiving the ultrasonic signal, ultrasonic wave letter is continued to
Number, and return to the step of obtaining the beacon coding information loaded in ultrasonic signal.
Example IV
As shown in figure 4, provide for the embodiment of the present invention four position bootstrap technique practical application when flow diagram, this
The position bootstrap technique that inventive embodiments four provide is by taking ultrasound transmitter device is mounted on vehicle side as an example, comprising:
S401: multiple ultrasound transmitter devices and multiple ultrasonic receivers are subjected to time synchronization.
Control unit can wirelessly or non-wirelessly be led to by WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc.
Letter mode obtains the current time information of ultrasound transmitter device and corresponding ultrasonic receiver, can be according to ultrasound transmitter device
Current time the current time of corresponding ultrasonic receiver is synchronized, can also be according to the current of ultrasonic receiver
Time synchronizes the current time of corresponding ultrasound transmitter device.
S402: control unit issues instruction and sends ultrasonic signal by multiple ultrasound transmitter devices.
Transmission control module of the control unit into ultrasonic wave transmission unit issues the instruction for sending ultrasonic signal, sends
After control module receives the instruction of above-mentioned transmission ultrasonic signal, different beacon codings is generated for each ultrasound transmitter device
Information, and letter is passed through in the pulse train of each ultrasound transmitter device ultrasonic signal to be sent by signal modulation module
The modulated process of number modulation module loads corresponding beacon coding information, after module excitation occur through ultrasonic wave launch
Carry the ultrasonic signal of corresponding beacon coding information.In order to accurately carry out as position guidance, ultrasonic receiver
It needs to correspond with ultrasound transmitter device.For example, in the example depicted in fig. 6, ultrasound transmitter device 50240 and ultrasonic wave connect
Device 50320 is received, is corresponded between ultrasound transmitter device 50241 and ultrasonic receiver 50321.Therefore, it is sent for ultrasonic wave
Device 50240 and ultrasound transmitter device 50241 generate different beacon coding information.
S403: record sends the first time information of the ultrasonic signal, and in ultrasonic wave transmission unit and ultrasonic wave
Sync beacon encoded information between receiving unit.
The first time information that control module record sends the ultrasonic signal is sent, first time information is sent to
Control unit.Also, control module is sent while generating different beacon coding information for each ultrasound transmitter device, it will
The corresponding beacon coding information of each ultrasound transmitter device is sent to control unit, and passes to ultrasonic wave by control unit and receive
Unit.Alternatively, ultrasound can also be transmitted directly to the corresponding beacon coding information of each ultrasound transmitter device by sending control module
Wave receiving unit.Realize the sync beacon encoded information between ultrasonic wave transmission unit and ultrasonic wave receiving unit.
S404: ultrasonic wave receiving unit received ultrasonic signal, and judge the ultrasonic wave letter that ultrasonic receiver receives
Number whether corresponding ultrasound transmitter device is sent.
While ultrasonic receiver receives the ultrasonic signal for being loaded with beacon coding information, record receives ultrasound
Second temporal information of wave signal, and start to acquire above-mentioned ultrasonic signal, ultrasonic receiver receives ultrasonic signal warp
It send after crossing signal amplification circuit, filter circuit, gain control circuit to control module is received, is surpassed by receiving control module decoding
Beacon coding information in acoustic signals.The ultrasonic wave letter that each ultrasonic receiver receives is judged by beacon coding information
Number whether corresponding ultrasound transmitter device is sent.
For example, in the example depicted in fig. 6, being determined by beacon coding information: what ultrasonic receiver 50320 received
Ultrasonic signal is that ultrasound transmitter device 50240 is sent；The ultrasonic signal that ultrasonic receiver 50321 receives is ultrasound
What wave transmitter 50241 was sent.
S405: if so, the second temporal information of record is sent to control unit.
It receives control module confirmation and receives whether the ultrasonic signal that each ultrasonic receiver receives is corresponding
After ultrasound transmitter device is sent, the second temporal information for receiving ultrasonic signal is sent to control unit.
S406: the distance between each ultrasonic receiver and corresponding ultrasound transmitter device are determined.
For example, in the example depicted in fig. 6, control unit obtains ultrasound transmitter device 50240 respectively and sends ultrasonic wave
The first time information t1 of signal, ultrasonic receiver 50320 receive the second temporal information t2 of ultrasonic signal；Ultrasonic wave
Transmitter 50241 sends the first time information t3 of ultrasonic signal, and ultrasonic receiver 50321 receives ultrasonic signal
Second temporal information t4.
The second temporal information of the ultrasonic signal of corresponding ultrasound transmitter device and right is received according to ultrasonic receiver
The ultrasound transmitter device answered sends the difference of the first time information of ultrasonic signal, and ultrasonic transmission time T can be obtained.
For example, in the example depicted in fig. 6, available ultrasound transmitter device 50240 sends the first of ultrasonic signal
Temporal information t1 and ultrasonic receiver 50320 receive the difference T1 of the second temporal information t2 of ultrasonic signal；And ultrasound
Wave transmitter 50241 sends the first time information t3 of ultrasonic signal and ultrasonic receiver 50321 receives ultrasonic wave letter
Number the second temporal information t4 difference T2.
And the distance between ultrasound transmitter device 50240 and corresponding ultrasonic receiver 50320 are determined according to formula (1)
D1, and pass through same mode while obtaining the distance d2 that ultrasound transmitter device 50241 arrives ultrasonic receiver 50321.
S407: the relative position of fixed charging equipment and vehicle-mounted charging equipment is determined.
For example, in the example depicted in fig. 6, the line of ultrasonic receiver 50320 and ultrasonic receiver 50321 is true
It is set to fixed base, the line of ultrasound transmitter device 50240 and ultrasound transmitter device 50241 is determined as vehicle-mounted baseline.By 2
Distance parameter d1, d2 and 2 baseline fixed bases, vehicle-mounted baseline can obtain fixed charging according to preset coordinate system
The four angular coordinate of equipment and vehicle-mounted charging equipment, and by location algorithm it can be concluded that fixed charging equipment and vehicle-mounted charge are set
Standby relative position.The embodiment of the present invention is only the citing of embodiment, in actual implementation, be can be used any common
Positioning, ranging or position algorithm determine the relative position of fixed charging equipment and vehicle-mounted charging equipment, including but not limited to: TOA,
At least one of TDOA, AOA, RSSI and TOF etc..To obtain higher positioning accuracy, can also be applied in combination it is above-mentioned these
Method.In the bootup process of position, between control unit, ultrasonic wave transmission unit and ultrasonic wave receiving unit, by wireless
Or the information of wire communication transmitting may also include ranging and position algorithm institute be necessary in addition to beacon coding information and temporal information
Information, such as speed, angle, intensity, phase, environment temperature, number of pulses.In multiple ultrasound transmitter devices and multiple ultrasounds
Wave receiver installation after, the length of ground baseline and vehicle-mounted baseline be it is fixed, the length of ground baseline and vehicle-mounted baseline can
Using the length data as known node, algorithm is calibrated when position solves.
The case where two pairs of ultrasonic sensors of installation are given in example shown in fig. 6, the embodiment of the present invention is to ultrasonic wave
The logarithm of sensor is without restriction, can obtain more parameters in the case where installing two pairs or more of ultrasonic sensor,
Fixation position coordinates and length information between ultrasonic sensor can also increase the data bulk of known node, thus into one
Step improves the precision of position algorithm.
S408: the relative position based on fixed charging equipment and vehicle-mounted charging equipment carries out position to wireless charging vehicle and draws
It leads.
Based on identical design concept, the embodiment of the present invention also provides a kind of place guidance system of wireless charging vehicle.
Embodiment five
As shown in figure 5, the embodiment of the present invention also provides a kind of place guidance system 500 of wireless charging vehicle, comprising:
Control unit 501, ultrasonic wave transmission unit 502 and ultrasonic wave receiving unit 503；
Control unit 501 is connect with ultrasonic wave transmission unit 502 and/or ultrasonic wave receiving unit 503 respectively.
Ultrasonic wave transmission unit 502 includes: to send control module 5021, signal modulation module 5022, ultrasonic wave mould occurs
Block 5023 and multiple ultrasound transmitter devices 5024；The transmission control module 5021 is also used to for generating beacon coding information
Record sends the first time information of the ultrasonic signal, and the first time information is sent to control unit 501；Institute
Signal modulation module 5022 is stated for the beacon coding information to be loaded onto the ultrasonic signal；Mould occurs for the ultrasonic wave
Block 5023 is for being loaded with the beacon coding information by the transmission of multiple ultrasound transmitter devices 5024 at predetermined intervals
The ultrasonic signal.
Ultrasonic wave receiving unit 503, comprising: receive control module 5031 and multiple ultrasonic receivers 5032.It is described to connect
Control module 5031 is received, for obtaining the beacon coding information loaded in ultrasonic signal；It is also used to according to the beacon coding
Information judges the ultrasound transmitter device 5024 for sending the ultrasonic signal, if corresponding super for the ultrasonic receiver
Sound transmitter 5024；If so, record receives the second temporal information of the ultrasonic signal, and by second time
Information is sent to control unit 501；The ultrasonic receiver 5032 is for receiving the ultrasound that ultrasound transmitter device 5024 is sent
Wave signal.
When implementing, it also may include receiving control that control unit 501, which may include in sending control module 5021,
In module 5031, an independent unit can also be used as.Control unit 501 sends control module 5021 and receives control mould
Block 5031 may be implemented in a control chip, such as central processing unit (Central Processing Unit,
CPU), control system (Programmable Logic Controller, PLC) or micro-control unit (Microcontroller
Unit；) etc. MCU in common control chip.Control unit 501 can also be with transmission control module 5021 or reception control module
5031 realize in identical control chip.Control unit 501, transmission control module 5021 and reception control module 5031 can also
To realize in different control chips.Control unit 501 and transmission control module 5021 are realized in identical control chip
When middle, can by WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc. wirelessly or non-wirelessly communication mode with connect
Control module 5031 is received to connect.Control unit 501 and when receiving control module 5031 and realizing in identical control chip, can be with
By WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc. wirelessly or non-wirelessly communication mode and send control module
5021 connections.Control unit 501 sends control module 5021 and receives control module 5031 and realizes in different control chips
When middle, can by WIFI, radio communication, Zigbee, bluetooth, millimeter wave, optic communication etc. wirelessly or non-wirelessly communication mode distinguish
It is connect with sending control module 5021 and receiving control module 5031.
The wireless charging system of wireless charging vehicle generally includes fixed charging equipment and vehicle-mounted charging equipment, when implementation,
When ultrasonic wave transmission unit 502 is mounted on fixed charging equipment side, ultrasonic wave receiving unit 503 is then mounted on vehicle-mounted charge and sets
Standby side, vice versa.The ultrasound of ultrasound transmitter device 5024 or ultrasonic wave receiving unit 503 in ultrasonic wave transmission unit 502
Wave receiver 5032 is mountable in vehicle any position, and obtains ultrasound transmitter device 5024 or ultrasonic receiver 5032 and vehicle
The relative position of charging equipment is carried, ultrasound transmitter device 5024 or ultrasonic receiver 5032 also may be mounted at and fill including vehicle-mounted
On any position of vehicle-mounted charging equipment including electric coil；Ultrasound transmitter device 5024 in ultrasonic wave transmission unit 502 or
The ultrasonic receiver 5032 of ultrasonic wave receiving unit 503 is also mountable in any position or the component of fixing charging equipment side
On, and the relative position of ultrasound transmitter device 5024 or ultrasonic receiver 5032 and fixed charging equipment is obtained, it can also pacify
On any position of the fixation charging equipment including transmitting coil.It should be noted that being sent in selection ultrasonic wave
When the installation site of device 5024 and ultrasonic receiver 5032, needed between ultrasound transmitter device 5024 and ultrasonic receiver 5032
Will be in effective position designation range, such as within the scope of 10 meters -30 meters, barrier cannot be fixed and blocked, to guarantee super
Acoustic receiver 5032 can be efficiently received the ultrasonic signal of the sending of ultrasound transmitter device 5024, and ultrasonic signal
The parameters such as intensity coincidence measurement distance, the requirement for determining position and effectively obtaining data.
For effective position, the ultrasound transmitter device 5024 or ultrasonic receiver 5032 of every side at least install two,
As shown in fig. 6, for example, in the case where fixed charging equipment side installation ultrasonic receiver 5032, in vehicle-mounted charging equipment
Side is installed by ultrasound transmitter device 5024.If installing two ultrasonic receivers 5032 in fixed charging equipment side, respectively
It is ultrasonic receiver 50320 and ultrasonic receiver 50321, by ultrasonic receiver 50320 and ultrasonic receiver 50321
Line be determined as fixed base.Preset coordinate system is defined generally according to fixed charging equipment, in a kind of possible embodiment party
In formula, as shown in fig. 6, the central point of fixed charging equipment can be determined as to the origin of preset coordinate system；Definition is wherein hung down
Directly in the direction of fixed base, the definition that vehicle heading is parallel in Fig. 6 is horizontal axis x；It is parallel to fixed base
Direction is that the transverse direction in vehicle heading is defined as longitudinal axis y in Fig. 6.According to the phase of fixed charging equipment and fixed base
To position, the four angular coordinate of fixed charging equipment is determined.It later can be in vehicle-mounted charging equipment side, such as vehicle-mounted charge coil
The body rear end of side or vehicle installs two ultrasound transmitter devices 5024, is ultrasound transmitter device 50240 and ultrasonic wave respectively
The line of ultrasound transmitter device 50240 and ultrasound transmitter device 50241 is determined as vehicle-mounted baseline by transmitter 50241.According to vehicle
Charging equipment, such as vehicle-mounted charge coil are carried, the four angular coordinate of vehicle-mounted charging equipment is determined with the relative position of vehicle-mounted baseline.
In order to accurately carry out guiding for position, ultrasonic receiver and ultrasound transmitter device need to correspond.For example,
In example shown in fig. 6, ultrasound transmitter device 50240 and ultrasonic receiver 50320, ultrasound transmitter device 50241 and ultrasound
It is corresponded between wave receiver 50321.
It is only a kind of example of possible embodiment, ultrasound transmitter device 5024 and ultrasonic receiver 5032 in Fig. 6
Installation site, quantity, the origin of preset coordinate system and the setting of reference axis are not limited to the example in Fig. 6.As long as guaranteeing
Ultrasound transmitter device 5024 is identical as the number of ultrasonic receiver 5032, and each ultrasound transmitter device 5024 and each ultrasound
Wave receiver 5032 corresponds.
It, can be as at the beginning of through the navigator fixs mode such as GPS, WIFI, mobile network, car networking when electric vehicle needs to charge
Step guidance vehicle drives towards the parking stall for being equipped with the place guidance system 500 of wireless charging vehicle.It is passed when vehicle enters ultrasonic wave
Sensor can working range when, when as within the scope of 30 meters, place guidance system 500 is started to work.Assuming that control unit 501 respectively with
It is connected by wireless communication between ultrasonic wave transmission unit 502 and ultrasonic wave receiving unit 503.When vehicle enters supersonic sensing
Device can working range when, control unit 501 is established between 503 both ends of ultrasonic wave transmission unit 502 and ultrasonic wave receiving unit
Play wireless communication connection.Be equipped with all ultrasound transmitter devices 5024 of the side of ultrasonic wave transmission unit 502 by it is preset when
Between be spaced and meanwhile generate and send the ultrasonic signal for carrying beacon coding information.The time interval that ultrasonic signal is sent can
The rough distance obtained in a manner of according to navigator fix etc. is calculated, or directly acquires preset time interval numerical value, such as
Preset time interval is 1 second.Control unit 501 starts to calculate admittedly after each ultrasonic receiver 5032 receives ultrasonic signal
Distance and the direction for determining charging equipment and vehicle-mounted charging equipment determine fixed charging equipment based on preset coordinate system and vehicle-mounted fill
The four angular coordinate of electric equipment.When ultrasonic receiver 5032 receives the ultrasonic signal of steady and continuous, and controllable unit
When 501 available effectively continuous temporal information, for example, ultrasonic receiver 5032 receives continuous 2-5 correctly ultrasounds
Wave signal, when control unit 501 obtains continuous 2-5 effective temporal informations, control unit 501 starts output distance and position
Guide data.At this point, the effective range of wireless charging vehicle in-position guidance system 500.
In a kind of possible embodiment, when vehicle enter ultrasonic sensor can working range when, ultrasonic signal
The time interval of transmission is calculated according to the rough distance that the modes such as navigator fix obtain, or the one biggish time of setting
Interval, such as 1s.Later, after the effective range of wireless charging vehicle in-position guidance system 500, place guidance system
500 gradually shorten the time interval that ultrasonic signal is sent, until reaching minimum interval required by meeting positioning accuracy
Until.Assuming that car speed is 100mm/s, to obtain mm grades of real-time accuracy it is necessary to less than 0.01 when carrying out position guidance
Second is preset time interval, sends ultrasonic signal with the frequency less than 0.01 second 1 time.In alternatively possible embodiment
In, minimum interval of the time interval that ultrasonic signal is sent directly according to required by meeting positioning accuracy determines.
The output data of the control unit 501 of place guidance system 500 may include: preset coordinate system and fix
The four angular coordinate of charging equipment and vehicle-mounted charging equipment.
In a kind of possible embodiment, control unit 501 can by output data by WIFI, radio communication,
Wirelessly or non-wirelessly communication mode is sent to the mobile phone or vehicle centre console of driver for Zigbee, bluetooth, millimeter wave, optic communication etc.
Equal mobile terminals show the quadrangle of preset coordinate system and fixed charging equipment and vehicle-mounted charging equipment on mobile terminals
Coordinate.The output data of control unit 501 may also comprise the position deviation data of vehicle-mounted charging equipment and fixed charging equipment, or
Direction instruction information all around etc., and position deviation data and direction instruction information etc. are sent to mobile terminal, thus
Vehicle is driven towards the fixation charging equipment being arranged in parking stall by preferably guidance driver.When vehicle loading automatic parking system
When system, auxiliary parking system or automated driving system, control unit 501 can directly pass through WIFI, radio communication, Zigbee, indigo plant
Wirelessly or non-wirelessly communication mode will show preset coordinate system and fixed charging on mobile terminal for tooth, millimeter wave, optic communication etc.
Equipment and the four angular coordinate of vehicle-mounted charging equipment etc. are sent to automated parking system, auxiliary parking system or automated driving system,
Automated parking system, auxiliary parking system or automated driving system is assisted to determine parking position, and Dynamic Programming in real time is parked road
Vehicle is guided or is driven into automatically the parking position with fixed charging equipment exactitude position by diameter.
Pass through channel radio between ultrasonic wave transmission unit 502 and ultrasonic wave receiving unit 503 respectively in control unit 501
In the case where letter connection, control unit 501 is connected to ultrasonic wave transmission unit 502 and ultrasonic wave receiving unit by wireless communication
503 both ends transmission time synchronization signals, beacon coding information and from ultrasonic wave transmission unit 502 and ultrasonic wave receiving unit 503
Both ends acquisition time information etc..
Control unit 501 sends each first time information of ultrasonic signal for multiple ultrasound transmitter devices 5024,
And multiple ultrasonic receivers 5032 receive each second time of the ultrasonic signal of corresponding ultrasound transmitter device 5024
Information；According to each first time information, the spread speed of each second temporal information and ultrasonic signal, each ultrasound is obtained
The distance between wave transmitter 5024 and corresponding ultrasonic receiver 5032；According to preset coordinate system, fixed charging is determined
The coordinate value information of equipment, and according to the coordinate value information of fixed charging equipment and each ultrasound signal receipt device and corresponding
The distance between ultrasound transmitter device determines the coordinate value information of vehicle-mounted charging equipment；According to the coordinate value of fixed charging equipment
The coordinate value information of information and vehicle-mounted charging equipment determines the relative position of fixed charging equipment and vehicle-mounted charging equipment, and root
Position guidance is carried out to wireless charging vehicle according to relative position.
Ultrasonic wave receiving unit 503 also typically includes signal amplification module 5033, filter module 5034 and gain control molding
Block 5035, ultrasonic receiver 5032 receive ultrasonic signal by signal amplification module 5033, filter module 5034 and increase
It is sent after beneficial control module 5035 to control module 5031 is received, by receiving control module 5031 to the beacon in ultrasonic signal
Encoded information is demodulated.
Since transmission speed of the air themperature to ultrasonic signal is affected, in a kind of possible embodiment
In, place guidance system 500 further includes temperature collecting cell 504, temperature collecting cell 504 can be configured at control unit 501,
503 side of ultrasonic wave transmission unit 502 or ultrasonic wave receiving unit, temperature collecting cell 504 can by WIFI, radio communication,
The various wirelessly or non-wirelessly communication modes such as Zigbee, bluetooth, millimeter wave, optic communication are connect with control unit 501 or temperature is adopted
Collection unit 504 can be connect directly by way of line with control unit 501.Position guidance is carried out in place guidance system 500
When, real-time monitoring is carried out to air themperature of the temperature collecting cell 504 to environment, and be zero according to the temperature information and temperature
Degree Celsius when ultrasonic wave spread speed, determine the spread speed C of ultrasonic signal.To further increase precision, position is drawn
Guiding systems 500 include the measurement sensor that can configure the other parameters such as humidity, wind speed, air pressure, and are mended according to corresponding formula
Repay the spread speed C that determining ultrasonic signal is calculated.
In a kind of possible embodiment, vehicle is carried out in the bootup process of position every time in place guidance system 500,
Place guidance system 500 carry out include ultrasonic intensity, angle, propagation time, preset coordinate system and fixed charging equipment and
The information such as the four angular coordinate of the vehicle-mounted charging equipment are collected, and are stored into database.Utilize the information in database
Deep learning scheduling algorithm is trained, and in carrying out position bootup process, to the data information and database acquired in real time
In data information be compared, find out databases storage best match scene, estimated by deep learning scheduling algorithm
The relative position of charging equipment and the vehicle-mounted charging equipment is fixed out, or chooses optimal positioning survey by matching and calibrating
It is calculated away from relative position of the algorithm to fixed charging equipment and the vehicle-mounted charging equipment.
In order to improve the precision that relative position determines, it is preferred that ultrasound transmitter device 5024 is the ultrasonic wave of small-beamwidth
Probe is sent, the field angle θ of ultrasound transmitter device 5024 can be determined according to the length of fixed base or vehicle-mounted baseline, be guaranteed more
The ultrasonic signal that a ultrasound transmitter device 5024 is sent does not interfere with each other.For same vehicle backing radar or automated parking system
The common band limits of ultrasonic sensor used is not overlapped, does not interfere, and the frequency of ultrasonic signal, which is commonly designed, is more than
100khz, the high frequency probe that can further select directive property good on this basis, if the ultrasonic sensor of 400khz is as super
Sound transmitter 5024.The centre frequency with ultrasonic frequency of filter circuit match in ultrasonic receiver 5032, such as same
For 400khz.
When vehicle loading automated parking system, auxiliary parking system or automated driving system, place guidance system 500
Camera, the milli that can be mounted on above-mentioned automated parking system, auxiliary parking system or automated driving system on automobile body
The alignment sensors such as metric wave sensor, laser radar, infrared sensor are applied in combination, interact data, to further increase
Detection accuracy.
Place guidance system 500 can also be used in combination with the existing magnetic field induction mode of electric car wireless charging, with
Overcome poor reliability, the precision of the contraposition guidance of magnetic field induction method lower and the limited defect of sphere of action.
Shown in Fig. 7, for the system frame for the wireless charging system that place guidance system 500 provided by the invention can be applied to
Frame figure, wireless charging system include: to include the fixation charging equipment of ground launch coil and include vehicle-mounted charge coil
Vehicle-mounted charging equipment.Place guidance system 500 can be applied to be suitable for using the magnetic-coupled wireless charging system of Static Electro, with
For the wireless charging system for exchanging input, as shown in fig. 7, wireless charging system includes fixed charging equipment 715 and vehicle-mounted fills
Electric equipment 725, in example shown in Fig. 7, fixed charging equipment is mounted on ground, therefore, the specific packet of fixed charging equipment 715
It includes, ground power component 714 and ground communication control unit 713, wherein ground power component 714 includes ground launch coil
711 and ground power component 712, here, ground power component 712 may also comprise arbitrary off-board (PCC) power.It is vehicle-mounted to fill
Electric equipment 725 specifically includes, vehicle-mounted (PCC) power 724 and vehicle-carrying communication control unit 723, wherein vehicle-mounted (PCC) power 724 wraps
Include vehicle-mounted charge coil 721 and vehicle-mounted (PCC) power 722, wherein vehicle-mounted charge coil 721 is also referred to as vehicle-mounted receiving coil.
It is carried out wireless communication between ground communication control unit 713 and vehicle-carrying communication control unit 723.Ground power circuit 714 is from confession
Electric energy is obtained at power supply 710, and is that battery and vehicle mounted electrical apparatus equipment 720 are powered by vehicle-mounted power circuit 724.Electric car
Vehicle-mounted charge coil 721 and ground launch coil 711 must be accurately located when charging, and vehicle driving is guided extremely to fill vehicle-mounted
The position that electric coil 721 and ground launch coil 711 are aligned.Place guidance system 500 provided by the invention may be mounted at solid
725 side of charging equipment 715 and/or vehicle-mounted charging equipment is determined, so that accurately and rapidly guidance vehicle driving is extremely by vehicle-mounted charge
The position that coil 721 and ground launch coil 711 are aligned.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of position bootstrap technique of wireless charging vehicle, which is characterized in that be applied to control unit, comprising:
Obtain multiple ultrasound transmitter devices send ultrasonic signals each first time information and multiple ultrasonic receivers
Receive each second temporal information of the ultrasonic signal of corresponding ultrasound transmitter device；
According to each first time information, the spread speed of each second temporal information and the ultrasonic signal,
Obtain the distance between each ultrasonic receiver and corresponding ultrasound transmitter device；
According to preset coordinate system, the first coordinate value information of fixed charging equipment is determined, and according to the fixed charging equipment
The first coordinate value information, the distance between each ultrasound signal receipt device and corresponding ultrasound transmitter device and ultrasound
The sending direction of wave signal determines the second coordinate value information of vehicle-mounted charging equipment；
According to first coordinate value information and second coordinate value information, the fixed charging equipment and described vehicle-mounted is determined
The relative position of charging equipment, and position guidance is carried out to wireless charging vehicle depending on that relative position.
2. the method according to claim 1, wherein described according to each first time information, Ge Gesuo
The spread speed for stating the second temporal information and the ultrasonic signal obtains each ultrasonic receiver and corresponding ultrasonic wave hair
Before the step of sending the distance between device, the method also includes；
Obtain temperature information；
The spread speed of ultrasonic wave when according to the temperature information and temperature being zero degrees celsius, determines the ultrasonic signal
Spread speed.
3. the method according to claim 1, wherein the multiple ultrasound transmitter devices of acquisition send ultrasonic waves
Before each first time information, the method also includes:
It is preset apart from threshold to judge whether the distance between the fixed charging equipment and described vehicle-mounted charging equipment are less than or equal to
Value；
Distance between the fixed charging equipment and the vehicle-mounted charging equipment is less than or equal to the feelings of preset distance threshold
Under condition, controls the ultrasound transmitter device and start to send the ultrasonic signal.
4. the method according to claim 1, wherein the multiple ultrasound transmitter devices of acquisition send ultrasonic waves
Before each first time information, the method also includes:
Time synchronization is carried out between the ultrasound transmitter device and the corresponding ultrasonic receiver.
5. a kind of position bootstrap technique of wireless charging vehicle, which is characterized in that be applied to ultrasonic wave transmission unit, comprising:
Beacon coding information is generated, and the beacon coding information is loaded onto the ultrasonic signal；The beacon coding letter
Breath is for identifying each ultrasound transmitter device；
The ultrasound for being loaded with the beacon coding information is sent by multiple ultrasound transmitter devices at predetermined intervals
Wave signal；
Record sends the first time information of the ultrasonic signal, and the first time information is sent to control unit.
6. a kind of position bootstrap technique of wireless charging vehicle, which is characterized in that be applied to ultrasonic wave receiving unit, comprising:
Obtain the beacon coding information loaded in ultrasonic signal；The ultrasonic signal is to be received by ultrasonic receiver
The ultrasonic signal sent of ultrasound transmitter device；The beacon coding information is for identifying each ultrasound transmitter device；
According to the beacon coding information, the ultrasound transmitter device for sending the ultrasonic signal is judged, if be the ultrasound
The corresponding ultrasound transmitter device of wave receiver；
If so, record receives the second temporal information of the ultrasonic signal, and second temporal information is sent to
Control unit.
7. a kind of place guidance system of wireless charging vehicle characterized by comprising
Control unit, ultrasonic wave transmission unit and ultrasonic wave receiving unit；
Described control unit is connect with the ultrasonic wave transmission unit and/or the ultrasonic wave receiving unit respectively；
Described control unit is used to obtain each first time information that multiple ultrasound transmitter devices send ultrasonic signal, and
Multiple ultrasonic receivers receive each second temporal information of the ultrasonic signal of corresponding ultrasound transmitter device；According to
The spread speed of each first time information, each second temporal information and the ultrasonic signal, obtains each
The distance between ultrasonic receiver and corresponding ultrasound transmitter device；According to preset coordinate system, fixed charging equipment is determined
Coordinate value information, and according to the coordinate value information of the fixed charging equipment and each ultrasound signal receipt device and right
The distance between ultrasound transmitter device answered determines the coordinate value information of vehicle-mounted charging equipment；According to the fixed charging equipment
Coordinate value information and the vehicle-mounted charging equipment coordinate value information, determine the fixed charging equipment and the vehicle-mounted charge
The relative position of equipment, and position guidance is carried out to wireless charging vehicle depending on that relative position；
Wherein, the ultrasonic wave transmission unit, comprising: send control module, signal modulation module, ultrasonic wave and module and more occurs
A ultrasound transmitter device；The transmission control module is also used to record the transmission ultrasonic wave for generating beacon coding information
The first time information of signal, and the first time information is sent to control unit；The signal modulation module is used for will
The beacon coding information is loaded onto the ultrasonic signal；Module occurs for the ultrasonic wave for leading at predetermined intervals
It crosses multiple ultrasound transmitter devices and sends the ultrasonic signal for being loaded with the beacon coding information；
The ultrasonic wave receiving unit, comprising: receive control module and multiple ultrasonic receivers；The reception control module,
For obtaining the beacon coding information loaded in ultrasonic signal；It is also used to judge to send institute according to the beacon coding information
State the ultrasound transmitter device of ultrasonic signal, if be the corresponding ultrasound transmitter device of the ultrasonic receiver；If so, note
Record receives the second temporal information of the ultrasonic signal, and second temporal information is sent to control unit；It is described
Ultrasonic receiver is for receiving the ultrasonic signal that ultrasound transmitter device is sent.
8. system according to claim 7, which is characterized in that the ultrasonic receiver and the ultrasound transmitter device
Number is identical, and each ultrasonic receiver and each ultrasound transmitter device correspond.
9. system according to claim 7, which is characterized in that described control unit respectively with the ultrasonic wave transmission unit
And/or it is connected by wireless communication between the ultrasonic wave receiving unit.
10. system according to claim 7, which is characterized in that the system also includes: temperature collecting cell；
The temperature collecting cell is connect with described control unit；
Described control unit is also used to obtain temperature information, and ultrasound when being zero degrees celsius according to the temperature information and temperature
The spread speed of wave determines the spread speed of the ultrasonic signal.
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| CN201910450679.7A CN110058200B (en) | 2019-05-28 | 2019-05-28 | Position guiding method and system for wireless charging vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110293860A (en) * | 2019-08-06 | 2019-10-01 | 北京有感科技有限责任公司 | Electric car Wireless charging coil guiding and aligning device and alignment methods |
| CN110293860B (en) * | 2019-08-06 | 2023-09-05 | 合肥有感科技有限责任公司 | Wireless charging coil guiding and aligning device and aligning method for electric automobile |
| CN110723019A (en) * | 2019-10-21 | 2020-01-24 | 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 |
| 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 |
| WO2022016498A1 (en) * | 2020-07-24 | 2022-01-27 | 华为技术有限公司 | Charging method and charging device |
| CN112810495A (en) * | 2021-02-26 | 2021-05-18 | 长安大学 | Automatic driving clock synchronization system and method based on dynamic charging system |
| CN113392662A (en) * | 2021-05-24 | 2021-09-14 | 北京京东乾石科技有限公司 | Vehicle position information display method and device, electronic equipment and readable medium |
| CN113910930A (en) * | 2021-10-28 | 2022-01-11 | 东风汽车有限公司东风日产乘用车公司 | Electric vehicle wireless charging guiding and positioning method, electronic equipment and storage medium |
| CN113910930B (en) * | 2021-10-28 | 2023-12-26 | 东风汽车有限公司东风日产乘用车公司 | Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium |
| CN115503517A (en) * | 2022-11-11 | 2022-12-23 | 合肥有感科技有限责任公司 | Vehicle wireless charging space guiding and positioning method |
| CN115503517B (en) * | 2022-11-11 | 2023-03-14 | 合肥有感科技有限责任公司 | Vehicle wireless charging space guiding and positioning method |
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