CN110723019A - Wireless charging guiding and positioning system and method and vehicle-mounted equipment - Google Patents

Wireless charging guiding and positioning system and method and vehicle-mounted equipment Download PDF

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Publication number
CN110723019A
CN110723019A CN201910997751.8A CN201910997751A CN110723019A CN 110723019 A CN110723019 A CN 110723019A CN 201910997751 A CN201910997751 A CN 201910997751A CN 110723019 A CN110723019 A CN 110723019A
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China
Prior art keywords
vehicle
receiving antenna
control module
mounted equipment
beacon signal
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Granted
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CN201910997751.8A
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Chinese (zh)
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CN110723019B (en
Inventor
褚维戈
王睿华
王静
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ZTE NEW ENERGY AUTOMOBILE Co Ltd
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ZTE NEW ENERGY AUTOMOBILE Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Abstract

The invention discloses a wireless charging guiding and positioning system and method and vehicle-mounted equipment.A ground device comprises a primary charging coil, a transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is connected with the transmitting antenna control module through a wire harness; the transmitting antenna transmits a beacon signal under the driving of the transmitting antenna control module; the vehicle-mounted device comprises: the secondary charging coil, the receiving antenna and the receiving antenna control module; the receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal; the receiving antenna control module receives the beacon signal and measures the signal intensity; and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment. Therefore, the accuracy of guiding and positioning can be improved, and the charging efficiency of the wireless charging system is ensured.

Description

Wireless charging guiding and positioning system and method and vehicle-mounted equipment
Technical Field
The invention relates to the field of wireless charging, in particular to a wireless charging guiding and positioning system and method and vehicle-mounted equipment.
Background
Wireless charging is a new charging technology that has emerged in recent years, and charging within a certain space range can be realized without the help of a charging wire. The implementation method is mainly based on Wireless Power Transfer (WPT) technology, electric energy is transmitted to an electric equipment end from a Power supply end in a non-contact mode by using principles of magnetic resonance coupling, laser, microwave and the like, Wireless charging/Power supply of the electric equipment can be achieved, and the Wireless Power transmission system has the advantages of safety, reliability, flexibility, convenience, environmental friendliness, all-weather working and the like, and therefore the Wireless Power transmission system is widely concerned in recent years.
In practical application, in order to ensure that the charger works in an optimal state and the efficiency consistency of each charging is ensured, the wireless charging system must have a parking guidance function, and can ensure that the distance from the vehicle to an ideal parking point is within an allowable deviation range defined by the wireless charging system.
Therefore, how to improve the accuracy of the wireless charging guiding and positioning becomes an urgent problem to be solved.
Disclosure of Invention
In view of this, embodiments of the present invention provide a wireless charging guidance positioning system and method, and a vehicle-mounted device, which can enable a vehicle to perform an accurate positioning guidance function when approaching a charging potential, help a driver to perform a parking operation for guidance or automatically perform parking guidance, and ensure that a distance from a vehicle to an ideal parking point is within an allowable offset range defined by a wireless charging system after parking is completed.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to an aspect of an embodiment of the present invention, there is provided a wireless charging guidance positioning system, including: ground equipment and vehicle-mounted equipment; wherein:
ground equipment installs on charging parking stall, includes: the antenna comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna is driven by the transmitting antenna control module to transmit a beacon signal;
the on-vehicle equipment is installed on the car, includes: the device comprises a secondary charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is installed in the secondary charging coil and used for receiving the beacon signal and measuring the signal strength of the beacon signal;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
Optionally, the determining, by the vehicle-mounted device, the location information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points respectively includes:
the vehicle-mounted equipment calculates the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively;
and determining the position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance with the signal intensity of the beacon signal.
Optionally, the determining the location information of the vehicle-mounted device according to the coordinates of the preset calibration point with the minimum variance from the signal strength of the beacon signal includes:
determining the coordinates of at least one preset calibration point with the minimum variance of the signal strength of the beacon signal as the coordinates of the at least one receiving antenna relative to a ground coordinate system;
and determining the coordinates of the central point of the vehicle-mounted equipment relative to a ground coordinate system according to the coordinates of the at least one receiving antenna relative to the ground coordinate system.
Optionally, the guiding, according to the position information of the vehicle-mounted device, a center point of the vehicle-mounted device to coincide with a center point of the ground device includes:
determining coordinates of a central point of the vehicle-mounted equipment relative to a ground coordinate system at intervals of preset time;
and drawing a guide line according to a plurality of continuously determined coordinates of the central point of the vehicle-mounted equipment, and guiding the central point of the vehicle-mounted equipment to be overlapped with the central point of the ground equipment.
Optionally, the system further comprises:
selecting a plurality of preset calibration points on the ground equipment and the periphery thereof, and respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point;
the method for determining the position information of the vehicle-mounted equipment by the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points comprises the following steps:
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensities in the standard signal intensity set corresponding to the receiving antenna.
Optionally, the detecting, at each preset calibration point, the signal strength received by each receiving antenna respectively to obtain a standard signal strength set of each receiving antenna includes:
under different detection parameters, respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna under different detection parameters;
the method for determining the position information of the vehicle-mounted equipment by the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensities in the standard signal intensity set corresponding to the receiving antenna comprises the following steps:
determining target detection parameters, and acquiring a standard signal intensity set of each receiving antenna under the target detection parameters;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signals in the standard signal intensity set of the receiving antenna under the target detection parameters.
Optionally, the detection parameter includes a height and/or a rotation angle of the receiving antenna;
the determining of the target detection parameters comprises:
and determining target detection parameters according to the ground clearance of the vehicle-mounted equipment and/or the rotation angle of a vehicle coordinate system of the vehicle-mounted equipment relative to a ground coordinate system.
According to another aspect of the embodiments of the present invention, there is provided a wireless charging guidance positioning method applied to any one of the above wireless charging guidance positioning systems, where the system includes: ground equipment and vehicle-mounted equipment; the ground equipment includes: at least one transmitting antenna and a transmitting antenna control module; the in-vehicle apparatus includes: at least one receiving antenna and a receiving antenna control module; the method comprises the following steps:
the at least one transmitting antenna transmits a beacon signal under the driving of the transmitting antenna control module;
the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module;
the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
According to another aspect of the embodiments of the present invention, there is provided an in-vehicle apparatus mounted on a vehicle, the in-vehicle apparatus including: vice limit charging coil, at least one receiving antenna, receiving antenna control module, mobile unit host system, on-vehicle side power, wherein:
the vehicle-mounted side power supply is connected with the receiving antenna control module and used for providing power supply for the receiving antenna control module;
the receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module;
the receiving antenna control module is installed in the secondary charging coil, is in communication connection with the vehicle-mounted device main control module, and is used for receiving the beacon signal, measuring the signal intensity of the beacon signal and transmitting the signal intensity of the beacon signal to the vehicle-mounted device main control module;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
Optionally, the determining, by the vehicle-mounted device, the location information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points respectively includes:
the vehicle-mounted equipment calculates the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively;
and determining the position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance with the signal intensity of the beacon signal.
Compared with the related art, the embodiment of the invention provides a wireless charging guiding and positioning system and method and vehicle-mounted equipment, wherein the wireless charging guiding and positioning system comprises: ground equipment and vehicle-mounted equipment; wherein: ground equipment installs on charging parking stall, includes: the antenna comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna is driven by the transmitting antenna control module to transmit a beacon signal; the on-vehicle equipment is installed on the car, includes: the device comprises a secondary charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is installed in the secondary charging coil and used for receiving the beacon signal and measuring the signal strength of the beacon signal; and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment. According to the embodiment of the invention, the accurate positioning and guiding function is executed when the charging position is close to, the parking operation of a driver is assisted to guide or the automatic parking is assisted to guide, the accurate guiding and positioning is provided for the driver to navigate to the parking space, the vehicle-mounted equipment and the central point of the ground equipment are positioned in a superposition mode after parking is ensured, the guiding and positioning precision is improved, and the charging efficiency of the wireless charging system is ensured. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowed offset range defined by the WPT system, so that the distance from the vehicle to an ideal parking point is ensured to be within the allowed offset range defined by the wireless charging system.
Drawings
Fig. 1 is a schematic structural diagram of a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 2 is a schematic application environment diagram of a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a ground device in a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an on-board device in a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a transmitting antenna in a wireless charging guidance positioning system according to an embodiment of the present invention transmitting a beacon signal;
fig. 6 is a schematic view illustrating a rotation angle of an on-board device relative to a ground device in a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 7 is a schematic view of a guide wire provided in a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a preset calibration point selected by a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 9 is a schematic view of a wireless charging guidance positioning system according to an embodiment of the present invention at different selected angles;
fig. 10 is a flowchart illustrating a wireless charging guiding and positioning method according to an embodiment of the present invention;
fig. 11 is a second schematic structural diagram of a ground device in a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 12 is a second schematic structural diagram of an on-board device in a wireless charging guidance positioning system according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In one embodiment, please refer to fig. 1. The invention provides a wireless charging guiding and positioning system, which comprises: a ground device 100(GA) and an in-vehicle device 200 (VA); wherein:
this ground equipment 100 is installed on charging parking stall, includes: the primary side charging coil 11, at least one transmitting antenna 12 and a transmitting antenna control module 13, wherein each transmitting antenna 12 is connected with the transmitting antenna control module 13 through a wire harness; the at least one transmitting antenna 12 is fixedly arranged on the primary charging coil 11; the at least one transmitting antenna 12 transmits a beacon signal under the driving of the transmitting antenna control module 13.
The in-vehicle apparatus 200 is mounted on a vehicle, and includes: a secondary charging coil 21, at least one receiving antenna 22 and a receiving antenna control module 23; each receiving antenna 22 is installed in the receiving antenna control module 23; the at least one receiving antenna control module 23 is installed in the secondary charging coil 21; the at least one receiving antenna 22 receives the beacon signal transmitted by the transmitting antenna 12 and transmits the beacon signal to the receiving antenna control module 23; the receiving antenna control module 23 receives the beacon Signal and measures a Received Signal Strength Indication (RSSI) of the beacon Signal.
The vehicle-mounted device 200 determines the position information of the vehicle-mounted device 200 according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points, and guides the center point of the vehicle-mounted device 200 to coincide with the center point of the ground device 100 according to the position information of the vehicle-mounted device 200.
Wherein, the center point of the vehicle-mounted device 200 coincides with the center point of the ground device 100 to form an ideal alignment state. The charging slot where the ground device 100 is located is divided into an X axis and a Y axis to form a ground coordinate system, where the front-back direction (driving direction) of the vehicle is the X axis, and the left-right direction (vertical driving direction) of the vehicle is the Y axis. The above-described perfect coincidence is that the center point of the vehicle-mounted device 200 coincides with the center point of the ground device 100. As shown in fig. 2.
In this embodiment, the at least one transmitting antenna of the ground device transmits a beacon signal under the driving of the transmitting antenna control module, the receiving antenna of the vehicle-mounted device receives the beacon signal and transmits the beacon signal to the receiving antenna control module, and the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal; and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment. Like this, carry out accurate location guide function when being close to the charging position, help driver's parking operation to guide or automatic parking guides, for the driver navigates to the parking stall and provides the accurate location of guide, ensures the back of parkking the mobile unit with the central point coincidence location of ground equipment improves the precision of guide location to guarantee wireless charging system's charge efficiency. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowed offset range defined by the WPT system, so that the distance from the vehicle to an ideal parking point is ensured to be within the allowed offset range defined by the wireless charging system.
Optionally, the at least one transmit antenna comprises 1, 2, or more transmit antennas; the at least one receive antenna comprises 1, 2 or more receive antennas.
In this embodiment of the present invention, the at least one transmitting antenna includes 1, 2, or multiple transmitting antennas, and the at least one receiving antenna includes 1, 2, or multiple receiving antennas. In the preferred embodiment of the present invention, the number of the transmitting antennas is 4, and the number of the receiving antennas is 2.
Optionally, the number of the transmitting antenna control modules comprises 1, 2 or more; the number of the receiving antenna control modules comprises 1, 2 or more.
In the embodiment of the present invention, the number of the transmitting antenna control modules 13 may be one, each transmitting antenna 12 is connected to the one transmitting antenna control module 13, and the number of the transmitting antenna control modules 13 may also correspond to the number of the transmitting antennas 12, that is, each transmitting antenna 12 corresponds to one receiving antenna control module 13. The number of the receiving antenna control modules 23 is at least one, specifically, the number of the receiving antenna control modules 23 may be one, each receiving antenna 22 is connected to one receiving antenna control module 23, and the number of the receiving antenna control modules 23 may also correspond to the number of the transmitting antennas 22, that is, each receiving antenna 22 corresponds to one receiving antenna control module 23.
In one embodiment, the number of the transmission antenna control modules 13 is one, as shown in fig. 3. The one transmitting antenna control module 13 is connected to the plurality of transmitting antennas 12 through a wire harness, and simultaneously drives the plurality of transmitting antennas 12 to transmit a beacon signal.
In one embodiment, the ground device 100 further comprises a ground device main control module 14, and the ground device main control module 14 is communicatively connected to the transmitting antenna control module 13 for communicating information related to each other.
In one embodiment, the ground device 100 further comprises a ground side power supply 15, the ground side power supply 15 being connected to the transmit antenna control module 13 for providing power to the transmit antenna control module 13.
In one embodiment, as shown in fig. 4, the vehicle device 200 further includes a vehicle device main control module 24, and the vehicle device main control module 24 is communicatively connected to the receiving antenna control module 23 to communicate related information.
In one embodiment, the vehicle-mounted device VA further includes a vehicle-mounted power supply 25, and the vehicle-mounted power supply 25 is connected to the receiving antenna control module 23 for supplying power to the receiving antenna control module 23.
In one embodiment, the at least one transmitting antenna 12 is driven by the transmitting antenna control module 13 to transmit a beacon signal, and includes:
the at least one transmitting antenna 12 is driven by the transmitting antenna control module 13 to transmit a group of beacon signals at preset time intervals (for example, 50-100ms, the smaller the signal is, the more accurate the signal is), wherein the group of beacon signals comprises a wakeup pairing code and pulse signals continuously transmitted by the at least one transmitting antenna in turn; wherein the wake-up pairing code is used for marking a group of paired transmitting antennas 12 of the ground device 100 and corresponding receiving antennas 22 of the vehicle-mounted device 200; the at least one transmitting antenna 12 is configured to transmit the pulse signal continuously in turn, so that the vehicle-mounted device 200 can receive and measure the signal strength RSSI of the beacon signal. As shown in fig. 5.
In this embodiment, the at least one transmitting antenna 12 transmits a set of beacon signals at intervals of a preset time, and the transmitting antenna 12 of the ground device 100 is paired with the receiving antenna 22 of the corresponding vehicle-mounted device 200 by using the wakeup pairing code in the set of beacon signals; the pulse signals continuously transmitted by turns through the at least one transmitting antenna 12 in the group of beacon signals are used for the vehicle-mounted device 200 to receive and measure the signal strength RSSI of the beacon signals.
In one embodiment, the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal; the method comprises the following steps:
the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal, and transmits the signal strength of the beacon signal to the in-vehicle device main control module 24 of the in-vehicle device 200.
Optionally, the determining, by the vehicle-mounted device, the location information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points respectively includes:
the vehicle-mounted equipment calculates the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively;
and determining the position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance with the signal intensity of the beacon signal.
Optionally, the determining the location information of the vehicle-mounted device according to the coordinates of the preset calibration point with the minimum variance from the signal strength of the beacon signal includes:
determining the coordinates of at least one preset calibration point with the minimum variance of the signal strength of the beacon signal as the coordinates of the at least one receiving antenna relative to a ground coordinate system;
and determining the coordinates of the central point of the vehicle-mounted equipment relative to a ground coordinate system according to the coordinates of the at least one receiving antenna relative to the ground coordinate system.
Optionally, the guiding, according to the position information of the vehicle-mounted device, a center point of the vehicle-mounted device to coincide with a center point of the ground device includes:
determining coordinates of a central point of the vehicle-mounted equipment relative to a ground coordinate system at intervals of preset time;
and drawing a guide line according to a plurality of continuously determined coordinates of the central point of the vehicle-mounted equipment, and guiding the central point of the vehicle-mounted equipment to be overlapped with the central point of the ground equipment.
Optionally, the operating frequency band of the wireless charging guidance positioning system can be selectively set to 104KHz, 114KHz or 145KHz and the like.
Optionally, the system further comprises:
selecting a plurality of preset calibration points on the ground equipment and the periphery thereof, and respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point;
the method for determining the position information of the vehicle-mounted equipment by the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points comprises the following steps:
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensities in the standard signal intensity set corresponding to the receiving antenna.
Optionally, the detecting, at each preset calibration point, the signal strength received by each receiving antenna respectively to obtain a standard signal strength set of each receiving antenna includes:
under different detection parameters, respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna under different detection parameters;
the method for determining the position information of the vehicle-mounted equipment by the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensities in the standard signal intensity set corresponding to the receiving antenna comprises the following steps:
determining target detection parameters, and acquiring a standard signal intensity set of each receiving antenna under the target detection parameters;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signals in the standard signal intensity set of the receiving antenna under the target detection parameters.
Optionally, the detection parameter includes a height and/or a rotation angle of the receiving antenna;
the determining of the target detection parameters comprises:
and determining target detection parameters according to the ground clearance of the vehicle-mounted equipment and/or the rotation angle of a vehicle coordinate system of the vehicle-mounted equipment relative to a ground coordinate system.
Specifically, the rotation angle α of the vehicle coordinate system of the vehicle-mounted device with respect to the ground coordinate system of the ground device may be acquired. Wherein the rotation angle alpha is (-180 DEG to +180 DEG). As shown in fig. 6. The ground device 100 includes 4 transmitting antennas LF1, LF2, LF3, LF4, the vehicle-mounted device 200 includes two receiving antennas X1 and X2, the coordinates of the two receiving antennas are X1 and X2, respectively, wherein the relative positions of the coordinates X1 and X2 and the point coordinate O based on the ground coordinate system are already determined when the vehicle-mounted device is designed and installed, after determining the coordinates X1 and X2, the relative position of the coordinate O can be obtained according to the above relative positions, and the rotation angle α of the vehicle coordinate system of the vehicle-mounted device relative to the ground coordinate system of the ground device can be obtained through the relative position of the coordinate O.
In this embodiment, the vehicle-mounted device may draw a guide line according to a plurality of coordinates of a center point of the vehicle-mounted device that are continuously determined, such as a guide line 701 shown in fig. 7, for guiding the center point of the vehicle-mounted device to coincide with the center point of the ground device. It will be appreciated that the sensing distance, i.e. the guidable distance, is different for different types of transmit antennas. In this embodiment, the distance that the transmitting antenna can sense is 1 meter.
When the vehicle enters the parking space at a certain speed, the wireless charging guiding and positioning system can calculate the coordinate point of the vehicle once every preset time (for example, 0.1s) by the above method, and perform curve simulation on the calculated coordinate point of the vehicle entering the parking space by adopting software, so as to obtain the driving guiding curve of the vehicle.
And filtering the data through Kalman filtering by utilizing the principle that the running track of the vehicle cannot be suddenly changed under the condition that the deviation of the individual point is too large. And introducing the driving speed and time of the vehicle entering a warehouse, predicting the position of the next coordinate point in advance through the track curve, when the coordinate point of the vehicle is obtained through a variance algorithm, when the coordinate point deviates from the track curve far, considering that the calculated coordinate value of 0.1s is not real, not adopting the coordinate point, continuing a new coordinate point for the next 0.1s, and if the coordinate point falls near the track curve and the deviation is not large, considering that the coordinate value is real and effective.
In the embodiment of the invention, an ideal parking place without electromagnetic interference can be selected, and the ground equipment and the surrounding places thereof are subjected to grid drawing, as shown in fig. 8, the size of a grid can be selected according to the actual precision requirement, and the smaller the size of the grid is, the higher the detection precision is. For example, the size of the square grid may be 1cm × 1cm, or 2cm × 2cm, or 5cm × 5cm, and when the size of the square grid is 2cm × 2cm, the calculation accuracy of the guiding and positioning system of the present invention can reach 2 cm.
And respectively detecting the signal strength received by each receiving antenna at each preset calibration point to obtain a standard signal strength set of each receiving antenna, wherein the standard signal strength set comprises a group of standard signal strengths received by the receiving antenna at each preset calibration point.
For example, 100 predetermined calibration points may be selected, for example, coordinates 0, -7, -14, and 21 are selected in the X-axis direction, and coordinates 24, 22, 20.
The method comprises the steps of taking X1 as a reference receiving antenna, respectively corresponding to transmitting antennas LF1, LF2, LF3 and LF4 on 100 calibrated coordinate points, and measuring standard signal strengths RSSI11, RSSI12, RSSI13 and RSSI14 corresponding to the 100 calibrated coordinate points. Similarly, the receiving antennas are respectively corresponding to the transmitting antennas LF1, LF2, LF3 and LF4 at 100 calibrated coordinate points by taking X2 as a reference, and the standard signal strengths RSSI21, RSSI22, RSSI23 and RSSI24 corresponding to the 100 calibrated coordinate points are measured.
In practical application, an X1 is taken as a reference receiving antenna, when the coordinates of the center point of the vehicle-mounted device are (X, y), X1 corresponds to LF1, LF2, LF3 and LF4, the RSSI1, the RSSI2, the RSSI3 and the RSSI4 are respectively measured and obtained, and then the variance calculation is respectively carried out on the group of signal intensity values and the RSSI11, the RSSI12, the RSSI13 and the RSSI14 of 100 ideally calibrated coordinate points, and the calculation formula is as follows:
d＝(RSSI11-RSSI1)2+(RSSI12-RSSI2)2+(RSSI13-RSSI3)2+(RSSI14-RSSI4)2。
and determining the set of preset calibration point coordinates with the minimum calculation result value as the coordinates of the transmitting antenna X1 relative to the ground coordinate system, similarly determining the coordinates of the transmitting antenna X2 relative to the ground coordinate system according to the manner, and then obtaining the accurate positioning coordinates (X, y) of the center point of the vehicle-mounted equipment according to the coordinates of X1 and X2 relative to the ground coordinate system. Specifically, it is possible to calculate midpoint coordinates of X1 and X2 from coordinates of X1 and X2 with respect to the ground coordinate system, and to use the calculated midpoint coordinates as the positioning coordinates of the center point of the in-vehicle apparatus.
It can be understood that, since the signal strength is affected by many factors, in some embodiments of the present invention, the signal strength received by each receiving antenna can be detected at each preset calibration point under different detection parameters, so as to obtain a standard signal strength set of each receiving antenna under different detection parameters. In specific application, firstly determining target detection parameters, and then acquiring a standard signal intensity set of each receiving antenna under the target detection parameters; and determining the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal received by each receiving antenna and each group of standard signal intensities in the standard signal intensity set of the receiving antenna under the target detection parameters.
The signal strength may be affected by the detection height, and thus, the detection parameter includes the detection height. Specifically, vehicles of different models have different ground clearance of vehicle-mounted equipment, and when the method is applied specifically, the ground clearance of the vehicle-mounted equipment can be used as a target detection parameter to acquire a corresponding standard signal intensity set.
The signal strength may also be affected by the rotation angle of the receiving antenna, and thus the detection parameter may include the rotation angle of the receiving antenna. Specifically, the signal strengths received by the receiving antenna at different rotation angles are different, and in specific application, the rotation angle of the receiving antenna compared with the ground equipment can be used as a target detection parameter to obtain a corresponding standard signal strength set. That is, the rotation angle of the vehicle coordinate system of the vehicle-mounted device with respect to the ground coordinate system may be used as the target detection parameter.
The embodiment of the invention provides a wireless charging guiding and positioning system, which comprises: ground equipment and vehicle-mounted equipment; wherein: ground equipment installs on charging parking stall, includes: the antenna comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna is driven by the transmitting antenna control module to transmit a beacon signal; the on-vehicle equipment is installed on the car, includes: the device comprises a secondary charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is installed in the secondary charging coil and used for receiving the beacon signal and measuring the signal strength of the beacon signal; and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment. Like this, carry out accurate location guide function when being close to the charging position, help driver's parking operation to guide or automatic parking guides, for the driver navigates to the parking stall and provides the accurate location of guide, ensures the back of parkking the mobile unit with the central point coincidence location of ground equipment improves the precision of guide location to guarantee wireless charging system's charge efficiency. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowed offset range defined by the WPT system, so that the distance from the vehicle to an ideal parking point is ensured to be within the allowed offset range defined by the wireless charging system.
In one embodiment, as shown in FIG. 10. The invention provides a wireless charging guiding and positioning method, which is applied to a wireless charging guiding and positioning system, and the system comprises: ground equipment and vehicle-mounted equipment; this ground equipment installs on charging parking stall, includes: the antenna comprises a primary side charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the at least one transmitting antenna is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna is fixedly arranged on the primary charging coil; this mobile unit is installed on the car, includes: the device comprises a secondary charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is installed in the receiving antenna control module; the receiving antenna control module is installed in the secondary charging coil. The method comprises the following steps:
step S1, the at least one transmitting antenna is driven by the transmitting antenna control module to transmit a beacon signal;
step S2, the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna, and transmits the beacon signal to the receiving antenna control module;
step S3, the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal;
and step S4, the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
In step S4, the center point of the vehicle-mounted device and the center point of the ground device overlap each other to form an ideal alignment state. The charging parking place where the ground equipment is located is divided into an X axis and a Y axis to form a ground coordinate system, wherein the front-back direction (driving direction) of the vehicle is the X axis, and the left-right direction (vertical driving direction) of the vehicle is the Y axis.
In one embodiment, in step S1, the transmitting antenna control module is connected to a plurality of transmitting antennas through a wire harness, and drives the plurality of transmitting antennas to transmit the beacon signal.
In one embodiment, the ground device further comprises a ground device main control module, and the ground device main control module is in communication connection with the transmitting antenna control module and is used for communicating related information.
In one embodiment, the ground equipment further comprises a ground side power supply connected to the transmit antenna control module for providing power to the transmit antenna control module.
In one embodiment, the vehicle-mounted device further comprises a vehicle-mounted device main control module, and the vehicle-mounted device main control module is in communication connection with the receiving antenna control module and is used for communicating and interacting related information.
In one embodiment, the vehicle-mounted device further comprises a vehicle-mounted side power supply connected with the receiving antenna control module for supplying power to the receiving antenna control module.
In one embodiment, in step S1, the transmitting the beacon signal by the at least one transmitting antenna driven by the transmitting antenna control module includes:
the at least one transmitting antenna is driven by the transmitting antenna control module to transmit a group of beacon signals at intervals of preset time, and the group of beacon signals comprise a wakeup pairing code and pulse signals continuously transmitted by the at least one transmitting antenna in turn; the awakening pairing code is used for marking a group of transmitting antennas of paired ground equipment and receiving antennas of corresponding vehicle-mounted equipment; and the pulse signals continuously transmitted by the at least one transmitting antenna in turn are used for receiving and measuring the signal strength RSSI of the beacon signals by the vehicle-mounted equipment.
In one embodiment, in the step S3, the receiving antenna control module receives the beacon signal and measures the signal strength RSSI of the beacon signal; the method comprises the following steps:
the receiving antenna control module receives the beacon signal, measures the signal strength of the beacon signal, and transmits the signal strength of the beacon signal to the vehicle-mounted device main control module of the vehicle-mounted device.
The specific manner in which the vehicle-mounted device determines the location information of the vehicle-mounted device according to the variances between the signal strengths of the beacon signals and the standard signal strengths of the plurality of preset calibration points, and guides the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the location information of the vehicle-mounted device has been described above in detail, and is not described here again.
The embodiment of the invention provides a wireless charging guiding and positioning method, which comprises the following steps: the at least one transmitting antenna transmits a beacon signal under the driving of the transmitting antenna control module; the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module; the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal; and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment. Like this, carry out accurate location guide function when being close to the charging position, help driver's parking operation to guide or automatic parking guides, for the driver navigates to the parking stall and provides the accurate location of guide, ensures the back of parkking the mobile unit with the central point coincidence location of ground equipment improves the precision of guide location to guarantee wireless charging system's charge efficiency. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowed offset range defined by the WPT system, so that the distance from the vehicle to an ideal parking point is ensured to be within the allowed offset range defined by the wireless charging system.
It should be noted that the method embodiment and the system embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the system embodiment, and technical features in the system embodiment are correspondingly applicable in the method embodiment, which is not described herein again.
In one embodiment, as shown in fig. 1 and 3, the present invention provides a floor device 100, the floor device 100 being installed on a charging parking space, including: primary charging coil 11, at least one transmitting antenna 12 and transmitting antenna control module 13, wherein:
the at least one transmitting antenna 12 is fixedly installed on the primary charging coil 11 and is connected with the transmitting antenna control module 13 through a wire harness;
the transmitting antenna control module 13 is configured to drive the at least one transmitting antenna 12 to transmit a beacon signal;
the at least one transmitting antenna 12 transmits a beacon signal under the driving of the transmitting antenna control module 13.
In this embodiment, the at least one transmitting antenna of the ground device transmits the beacon signal under the driving of the transmitting antenna control module, so that the vehicle-mounted device can receive and measure the signal strength RSSI of the beacon signal.
In one embodiment, the transmitting antenna control module 13 is connected to the plurality of transmitting antennas 12 through a wire harness, and simultaneously drives the plurality of transmitting antennas 12 to transmit a beacon signal.
In one embodiment, the ground device 100 further comprises a ground device main control module 14, and the ground device main control module 14 is communicatively connected to the transmitting antenna control module 13 for communicating information related to each other.
In one embodiment, the ground device 100 further comprises a ground side power supply 15, the ground side power supply 15 being connected to the transmit antenna control module 13 for providing power to the transmit antenna control module 13.
In one embodiment, the at least one transmitting antenna 12 is driven by the transmitting antenna control module 13 to transmit a beacon signal, including:
the at least one transmitting antenna 12 is driven by the transmitting antenna control module 13 to transmit a set of beacon signals at preset time intervals (for example, 50-100ms, the smaller the signal is, the more accurate the signal is), wherein the set of beacon signals comprises a wake-up pairing code and pulse signals continuously transmitted by the at least one transmitting antenna in turn; wherein the wake-up pairing code is used for marking a group of paired transmitting antennas 12 of the ground device 100 and corresponding receiving antennas 22 of the vehicle-mounted device 200; the at least one transmitting antenna 12 is used for receiving and measuring the signal strength RSSI of the beacon signal by the vehicle-mounted device 200 side. As shown in fig. 5.
In this embodiment, the at least one transmitting antenna 12 transmits a set of beacon signals at intervals of a preset time, and the transmitting antenna 12 of the ground device 100 is paired with the receiving antenna 22 of the corresponding vehicle-mounted device 200 by using the wakeup pairing code in the set of beacon signals; the pulse signals continuously transmitted by turns through at least one transmitting antenna 12 in the group of beacon signals are used for the vehicle-mounted device 200 to receive and measure the signal strength RSSI of the beacon signals.
In one embodiment, as shown in fig. 1 and 4, the present invention provides an in-vehicle apparatus 200, the in-vehicle apparatus 200 being mounted on a vehicle, including: a secondary charging coil 21, at least one receiving antenna 22 and a receiving antenna control module 23; wherein:
the receiving antenna 22 is installed in the receiving antenna control module 23; the receiving antenna control module 23 is installed in the secondary charging coil 21;
the receiving antenna 22 receives the beacon signal transmitted by the transmitting antenna and transmits the beacon signal to the receiving antenna control module 23;
the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal;
the vehicle-mounted device 200 determines the position information of the vehicle-mounted device 200 according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points, and guides the center point of the vehicle-mounted device 200 to coincide with the center point of the ground device 100 according to the position information of the vehicle-mounted device 200.
In this embodiment, a receiving antenna of the vehicle-mounted device receives a beacon signal transmitted by a transmitting antenna and transmits the beacon signal to the receiving antenna control module, and the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal; and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment. Like this, carry out accurate location guide function when being close to the charging position, help driver's parking operation to guide or automatic parking guides, for the driver navigates to the parking stall and provides the accurate location of guide, ensures the back of parkking the mobile unit with the central point coincidence location of ground equipment improves the precision of guide location to guarantee wireless charging system's charge efficiency. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowed offset range defined by the WPT system, so that the distance from the vehicle to an ideal parking point is ensured to be within the allowed offset range defined by the wireless charging system.
In one embodiment, the vehicle device 200 further includes a vehicle device main control module 24, and the vehicle device main control module 24 is communicatively connected to the receiving antenna control module 23 for communicating related information.
In one embodiment, the in-vehicle device 200 further includes an in-vehicle side power supply 25, and the in-vehicle side power supply 25 is connected to the receiving antenna control module 23 for supplying power to the receiving antenna control module 23.
In one embodiment, the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal; the method comprises the following steps:
the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal, and transmits the signal strength of the beacon signal to the in-vehicle device main control module 24 of the in-vehicle device 200.
The specific manner in which the vehicle-mounted device determines the location information of the vehicle-mounted device according to the variances between the signal strengths of the beacon signals and the standard signal strengths of the plurality of preset calibration points, and guides the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the location information of the vehicle-mounted device has been described above in detail, and is not described here again.
In any of the above embodiments, the primary charging coil 11, the at least one transmitting antenna 12 and the transmitting antenna control module 13 may also be mounted on the in-vehicle device 200, and the secondary charging coil 21, the at least one receiving antenna 22 and the receiving antenna control module 23 may also be mounted on the ground device 100. That is, the beacon signal is transmitted by the in-vehicle device 200, and the ground device receives the beacon signal. Other structures and principles are the same as those of any of the above embodiments, and the description thereof is not repeated.
The technical solution of the present invention will be described in further detail with reference to more specific examples.
In one embodiment, the number of the transmitting antennas 12 is 4, as shown in fig. 11. The number of the receiving antennas 22 is 4, as shown in fig. 12.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes several instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A wireless charging guidance positioning system, the system comprising: ground equipment and vehicle-mounted equipment; wherein:
ground equipment installs on charging parking stall, includes: the antenna comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna is driven by the transmitting antenna control module to transmit a beacon signal;
the on-vehicle equipment is installed on the car, includes: the device comprises a secondary charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is installed in the secondary charging coil and used for receiving the beacon signal and measuring the signal strength of the beacon signal;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
2. The system according to claim 1, wherein the vehicle-mounted device determines the position information of the vehicle-mounted device according to the variance between the signal strength of the beacon signal and the standard signal strength of a plurality of preset calibration points, respectively, and comprises:
the vehicle-mounted equipment calculates the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively;
and determining the position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance with the signal intensity of the beacon signal.
3. The system according to claim 2, wherein the determining the location information of the vehicle-mounted device according to the coordinates of the preset calibration point with the minimum variance from the signal strength of the beacon signal comprises:
determining the coordinates of at least one preset calibration point with the minimum variance of the signal strength of the beacon signal as the coordinates of the at least one receiving antenna relative to a ground coordinate system;
and determining the coordinates of the central point of the vehicle-mounted equipment relative to a ground coordinate system according to the coordinates of the at least one receiving antenna relative to the ground coordinate system.
4. The system of claim 3, wherein the guiding the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the position information of the vehicle-mounted device comprises:
determining coordinates of a central point of the vehicle-mounted equipment relative to a ground coordinate system at intervals of preset time;
and drawing a guide line according to a plurality of continuously determined coordinates of the central point of the vehicle-mounted equipment, and guiding the central point of the vehicle-mounted equipment to be overlapped with the central point of the ground equipment.
5. The system of any one of claims 1 to 4, further comprising:
selecting a plurality of preset calibration points on the ground equipment and the periphery thereof, and respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point;
the method for determining the position information of the vehicle-mounted equipment by the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points comprises the following steps:
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensities in the standard signal intensity set corresponding to the receiving antenna.
6. The system according to claim 5, wherein the detecting the received signal strength of each receiving antenna at each predetermined calibration point respectively to obtain a standard signal strength set of each receiving antenna comprises:
under different detection parameters, respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna under different detection parameters;
the method for determining the position information of the vehicle-mounted equipment by the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensities in the standard signal intensity set corresponding to the receiving antenna comprises the following steps:
determining target detection parameters, and acquiring a standard signal intensity set of each receiving antenna under the target detection parameters;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signals in the standard signal intensity set of the receiving antenna under the target detection parameters.
7. The system according to claim 6, wherein the detection parameters comprise altitude and/or rotation angle of the receiving antenna;
the determining of the target detection parameters comprises:
and determining target detection parameters according to the ground clearance of the vehicle-mounted equipment and/or the rotation angle of a vehicle coordinate system of the vehicle-mounted equipment relative to a ground coordinate system.
8. A wireless charging guiding and positioning method applied to a wireless charging guiding and positioning system according to any one of claims 1 to 7, wherein the system comprises: ground equipment and vehicle-mounted equipment; the ground equipment includes: at least one transmitting antenna and a transmitting antenna control module; the in-vehicle apparatus includes: at least one receiving antenna and a receiving antenna control module; the method comprises the following steps:
the at least one transmitting antenna transmits a beacon signal under the driving of the transmitting antenna control module;
the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module;
the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
9. An in-vehicle apparatus mounted on a vehicle, characterized by comprising: vice limit charging coil, at least one receiving antenna, receiving antenna control module, mobile unit host system, on-vehicle side power, wherein:
the vehicle-mounted side power supply is connected with the receiving antenna control module and used for providing power supply for the receiving antenna control module;
the receiving antenna is arranged in the receiving antenna control module and used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module;
the receiving antenna control module is installed in the secondary charging coil, is in communication connection with the vehicle-mounted device main control module, and is used for receiving the beacon signal, measuring the signal intensity of the beacon signal and transmitting the signal intensity of the beacon signal to the vehicle-mounted device main control module;
and the vehicle-mounted equipment determines the position information of the vehicle-mounted equipment according to the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively, and guides the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the position information of the vehicle-mounted equipment.
10. The vehicle-mounted device according to claim 9, wherein the vehicle-mounted device determines the position information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points, respectively, and comprises:
the vehicle-mounted equipment calculates the variance between the signal intensity of the beacon signal and the standard signal intensity of a plurality of preset calibration points respectively;
and determining the position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance with the signal intensity of the beacon signal.
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