CN112350458B - Method and device for determining position and posture of terminal and related equipment - Google Patents
Method and device for determining position and posture of terminal and related equipment Download PDFInfo
- Publication number
- CN112350458B CN112350458B CN202011140252.6A CN202011140252A CN112350458B CN 112350458 B CN112350458 B CN 112350458B CN 202011140252 A CN202011140252 A CN 202011140252A CN 112350458 B CN112350458 B CN 112350458B
- Authority
- CN
- China
- Prior art keywords
- transmit
- freedom
- degrees
- coil
- coils
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from 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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Abstract
The application discloses a method for determining a position posture of a terminal, which can be applied to the field of wireless charging, and comprises the following steps: exciting M different transmit coil sets at M different points in time, each transmit coil set comprising one or more transmit coils, M being an integer greater than 1; acquiring N groups of voltage and current of N transmitting coils, wherein M different transmitting coil groups comprise N different transmitting coil groups, and N is an integer greater than 1; obtaining N impedances according to the N groups of voltages and currents; and obtaining N first degrees of freedom according to the N impedances and the first corresponding relation, wherein the N first degrees of freedom are used for determining the position posture of the terminal. According to the method and the device, the corresponding relation between the impedance and the first degree of freedom is established in advance, so that the position and the posture of the terminal can be determined under the condition that the terminal and the wireless charging equipment are not in communication.
Description
Technical Field
The present application relates to the field of wireless charging, and in particular, to a method and an apparatus for determining a position and an attitude of a terminal, and a related device.
Background
Compare in wired charging, in wireless charging technology, wireless charging equipment has advantages such as the portability is high, be favorable to the waterproof dustproof design of terminal, has more extensive application prospect.
The wireless charging device changes the magnetic flux on the receiving coil of the terminal through the current change on the transmitting coil. Therefore, the relative positions of the transmitting coil and the receiving coil, i.e., the relative positions of the wireless charging device and the terminal, may affect the efficiency of wireless charging. In order to improve the efficiency of wireless charging, the relative positions of the wireless charging device and the terminal need to be ensured. Generally, in order to ensure the relative position between the wireless charging device and the terminal, the position and posture of the terminal during wireless charging can be completely limited by the clamp or the groove arranged on the carrier. Under the condition that the position posture of the wireless charging equipment is not changed, the relative positions of the wireless charging equipment and the terminal can be fixed.
The method requires a clamp or a carrier, which not only increases hardware cost, but also limits wireless charging scenarios.
Disclosure of Invention
The application provides a method, a device and related equipment for determining a position posture of a terminal, which can determine the position posture of the terminal under the condition that the terminal and wireless charging equipment are not communicated.
The application provides a method for determining a position and a posture of a terminal in a first aspect.
The method comprises the following steps: the wireless charging device excites M different transmit coil sets at M different points in time, each transmit coil set comprising one or more transmit coils, M being an integer greater than 1. The wireless charging equipment acquires N groups of voltage and current of N transmitting coils, the N transmitting coils correspond to N different transmitting coil groups one by one, the M different transmitting coil groups comprise N different transmitting coil groups, and N is an integer greater than 1. The wireless charging device obtains N impedances according to the N groups of voltages and currents, and obtains N first degrees of freedom according to the N impedances and a first corresponding relationship, where the first corresponding relationship may be a corresponding relationship between an impedance and a first degree of freedom, the corresponding relationship may be embodied by a model, an equation or a system of equations, and the model may be a neural network model. It should be noted that the two transmitting coil sets are different, which means that the two transmitting coil sets have different compositions, but may include the same transmitting coil. For example, the transmission coil set 1 includes a transmission coil 1, and the transmission coil set 2 includes a transmission coil 1 and a transmission coil 2. One of the N transmit coils may be present one or more times. The N first degrees of freedom are used for determining the position and the posture of the terminal, the position and the posture of an object can be determined through 6 degrees of freedom in a 3-dimensional space, and the position and the posture of the object can be determined through 3 degrees of freedom in a 2-dimensional space. The wireless charging device obtains N first degrees of freedom, and obtains the position posture of the terminal, but N does not necessarily have to be equal to 3 or 6, for example, N may be equal to 5.
By establishing the corresponding relation between the impedance and the first degree of freedom in advance, the position and the posture of the terminal can be determined through the N impedances and the corresponding relation. Therefore, the application scene of wireless charging is improved, for example, the terminal is in the hand of the user, and the position and the posture are uncertain.
In an alternative design of the first aspect, the method further includes: the wireless charging equipment acquires control parameters of the target transmitting coil group according to the N first degrees of freedom and the second corresponding relation, wherein the control parameters comprise amplitude and/or phase; and the wireless charging equipment excites the target transmitting coil set according to the control parameters to wirelessly charge the terminal. When the amplitudes and/or phases of the plurality of transmitting coils are different, the electromagnetic distributions formed by the plurality of transmitting coils are also different. The wireless charging equipment can establish the corresponding relation between the control parameters of the target transmitting coil group and the position and the posture of the terminal in advance, so that when the position and the posture of the terminal are different, the electromagnetic distribution formed by the target transmitting coil group can be better focused in the receiving coil of the terminal, and the wireless charging efficiency is improved. After the position and the posture of the terminal are determined, the wireless charging equipment reversely obtains the control parameters of the target transmitting coil group according to the corresponding relation and the position and the posture of the terminal. Through the position and the posture of the terminal, the control parameters are configured for the terminal according to the corresponding relation, and the wireless charging efficiency can be improved under the condition that the position and the posture of the terminal are uncertain.
In an optional design of the first aspect, after the wireless charging device excites the target transmitting coil set according to the control parameter to wirelessly charge the terminal, the method includes: if the target change rate is greater than the first threshold, the wireless charging device re-excites M different transmitting coil sets at M different time points to obtain N second degrees of freedom, where the target change rate is a voltage or current change rate of a target transmitting coil, and the target transmitting coil is one or more transmitting coils in the target transmitting coil set. The target change rate is used for representing that the position and the posture of the terminal are changed. And under the condition that the position and the posture of the terminal are changed, the wireless charging equipment recalculates the position and the posture of the terminal. By the method, the application scene of wireless charging is further improved, for example, the scene that the position and the posture of the terminal are changed.
In an optional design of the first aspect, the wireless charging device obtains M groups of voltages and currents of M transmitting coils, where the M transmitting coils correspond to M different transmitting coil groups one to one, and the M groups of voltages and currents include N groups of voltages and currents. After obtaining the M sets of voltage and current, the wireless charging device obtains M impedances from the M sets of voltage and current, the M impedances including N impedances, each of the N impedances being greater than each of the M-N impedances. Wherein the M-N impedances are impedances other than the N impedances of the M impedances. The larger the impedance, the stronger the electromagnetic distribution generated at the receiving coil of the terminal by the transmitting coil corresponding to the impedance, i.e. the larger the variation of the magnetic flux passing through the transmitting coil. By calculating the position posture of the terminal by using larger impedance, the influence of the surrounding environment on the algorithm can be reduced, namely the accuracy of the acquired position posture can be improved.
In an alternative design of the first aspect, N is equal to M, a set of different transmit coils of the M different transmit coil sets is equal to a target transmit coil set, the number of target transmit coil sets is less than N, at least one transmit coil set of the M different transmit coil sets includes a plurality of transmit coils, and amplitudes and/or phases of the plurality of transmit coils of the at least one transmit coil set are different when the M different transmit coil sets are excited. It is assumed that the wireless charging device needs to acquire 6 degrees of freedom, but the wireless charging device has only 4 transmitting coils. The 6 degrees of freedom can obtain 1 impedance through the corresponding relation, and 6 impedances are needed by reversely deducing the 6 degrees of freedom. In the case of only 4 transmit coils, by simultaneously exciting a plurality of transmit coils, the number of impedances obtained can be increased, thereby deriving 6 degrees of freedom smoothly. Therefore, the method improves the scene that the position and the posture of the terminal can be acquired.
In an alternative design of the first aspect, the plurality of transmit coils are adjacent transmit coils. The adjacent transmitting coils are easy to mutually interfere with the magnetic field distribution of the other side, so that larger impedance change can be obtained, and the accuracy of the obtained position posture is improved.
In an alternative design of the first aspect, N is 6. The terminal needs 6 degrees of freedom in a three-dimensional space, and the position and the posture of the terminal can be determined. Although some application scenarios only need 3 degrees of freedom to determine the position and the posture of the terminal, for example, the terminal is limited to be horizontally placed on a desktop. However, in order to improve the applicability of this method to various application scenarios, N is limited to 6.
The second aspect of the application provides a device for determining the position and the posture of a terminal.
The device includes:
an excitation module for exciting M different transmit coil sets at M different time points, each transmit coil set comprising one or more transmit coils, M being an integer greater than 1;
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring N groups of voltage and current of N transmitting coils, the N transmitting coils correspond to N different transmitting coil groups one by one, the M different transmitting coil groups comprise the N different transmitting coil groups, and N is an integer greater than 1;
the second acquisition module is used for acquiring N impedances according to the N groups of voltages and currents;
and the third acquisition module is used for acquiring N first degrees of freedom according to the N impedances and the first corresponding relation, and the N first degrees of freedom are used for determining the position posture of the terminal.
In an optional design of the second aspect, the third obtaining module is further configured to obtain control parameters of the target transmit coil set according to the N first degrees of freedom and the second corresponding relationship, where the control parameters include an amplitude and/or a phase;
the excitation module is further configured to excite the target transmitting coil set according to the control parameter, so as to wirelessly charge the terminal.
In an optional design of the second aspect, the excitation module is further configured to excite the M different transmit coil sets at M different time points to obtain N second degrees of freedom if a target rate of change is greater than a first threshold, where the target rate of change is a rate of change of voltage or current of a target transmit coil, and the target transmit coil is one or more transmit coils in the target transmit coil set.
In an optional design of the second aspect, the first obtaining module is specifically configured to obtain M groups of voltages and currents of M transmit coils, where the M transmit coils correspond to the M different transmit coil groups one to one, and the M groups of voltages and currents include the N groups of voltages and currents;
the second obtaining module is specifically configured to obtain M impedances according to the M groups of voltages and currents, where the M impedances include the N impedances, and each of the N impedances is greater than each of M-N impedances.
In an alternative design of the second aspect, the N is equal to the M, a set of all different transmit coils in the M different transmit coil sets is equal to the target transmit coil set, the number of target transmit coil sets is smaller than the N, at least one transmit coil set in the M different transmit coil sets includes a plurality of transmit coils, and amplitudes and/or phases of the plurality of transmit coils of the at least one transmit coil set are different when the M different transmit coil sets are excited.
In an alternative design of the second aspect, the plurality of transmit coils are adjacent transmit coils.
In an alternative design of the second aspect, N is 6.
A third aspect of the present application provides an apparatus for determining a position posture of a terminal,
the apparatus includes: the device comprises a controller, a power amplifier, a transmitting coil and a detection circuit;
the controller is used for outputting a switching tube gate driving control signal and controlling the on and off of a switching tube in the power amplifier, so that M different transmitting coil groups are excited at M different time points, each transmitting coil group comprises one or more transmitting coils, and M is an integer greater than 1;
the controller is also used for acquiring N groups of voltage and current of the N transmitting coils through the detection circuit, the N transmitting coils correspond to N different transmitting coil groups one by one, the M different transmitting coil groups comprise N different transmitting coil groups, and N is an integer greater than 1;
the controller is also used for obtaining N impedances according to the N groups of voltages and currents;
the controller is further configured to obtain N first degrees of freedom according to the N impedances and the first corresponding relationship, where the N first degrees of freedom are used to determine a position attitude of the terminal.
In an optional design of the third aspect, the controller is further configured to obtain control parameters of the target transmit coil group according to the N first degrees of freedom and the second correspondence, where the control parameters include an amplitude and/or a phase;
the controller is also used for exciting the target transmitting coil group according to the control parameters and wirelessly charging the terminal.
In an alternative design of the third aspect, the controller is further configured to excite M different sets of transmit coils at M different time points to obtain N second degrees of freedom if the target rate of change is greater than the first threshold, where the target rate of change is a rate of change of voltage or current of a target transmit coil, and the target transmit coil is one or more transmit coils in the target set of transmit coils.
In an optional design of the third aspect, the controller is specifically configured to obtain M groups of voltages and currents of M transmit coils through the detection circuit, where the M transmit coils correspond to M different transmit coil groups one to one, and the M groups of voltages and currents include N groups of voltages and currents;
the controller is specifically configured to obtain M impedances from the M groups of voltages and currents, the M impedances including N impedances, each of the N impedances being greater than each of the M-N impedances.
In an alternative design of the third aspect, N is equal to M, a set of all different transmit coils of the M different transmit coil sets is equal to a target transmit coil set, the number of target transmit coil sets is less than N, at least one transmit coil set of the M different transmit coil sets includes a plurality of transmit coils, and the plurality of transmit coils of the at least one transmit coil set differ in amplitude and/or phase when the M different transmit coil sets are excited.
In an alternative design of the third aspect, the plurality of transmit coils are adjacent transmit coils.
In an alternative design of the third aspect, N is 6.
A fourth aspect of the present application provides a computer storage medium, wherein the computer storage medium has instructions stored therein, and when the instructions are executed on a computer, the instructions cause the computer to perform the method according to the first aspect or any one of the implementation manners of the first aspect.
A fifth aspect of the present application provides a computer program product, wherein the computer program product, when executed on a computer, causes the computer to perform the method according to the first aspect or any one of the implementation manners of the first aspect.
Drawings
Fig. 1 is a block diagram of a wireless charging technique according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a wireless charging system;
fig. 3 is a schematic flowchart of determining a position and an attitude of a terminal in an embodiment of the present application;
fig. 4 is another schematic structural diagram of a wireless charging system according to an embodiment of the present application;
fig. 5 is another schematic structural diagram of a wireless charging system according to an embodiment of the present application;
fig. 6 is a schematic flowchart of a process of generating a switching tube gate driving control signal by a wireless charging device according to an embodiment of the present disclosure;
FIG. 7 is a diagram illustrating magnetic field distributions of transmitter coils at different phases in an embodiment of the present application;
FIG. 8 is a schematic diagram of the distribution of the target transmitting coil set in the embodiment of the present application;
fig. 9 is a schematic structural diagram of an apparatus for determining a position and an attitude of a terminal in an embodiment of the present application;
fig. 10 is a schematic structural diagram of an apparatus for determining a position and an attitude of a terminal in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a method, a device and related equipment for determining the position and the posture of a terminal, which are applied to the field of wireless charging and can be used for determining the position and the posture of the terminal under the condition that the terminal is not communicated with the wireless charging equipment. For example, the features or contents identified by broken lines in the drawings related to the embodiments of the present application can be understood as optional operations or optional structures of the embodiments.
The main working principle of the wireless charging technology is as follows: the high-frequency alternating current generated by the wireless charging device acts on the transmitting coil. Then wirelessly transmitting the energy to the terminal in modes of electromagnetic induction or magnetic resonance coupling and the like, converting alternating current into direct current and using the direct current for a load through a rectifying circuit after a receiving coil of the terminal receives the energy, and thus realizing wireless electric energy transmission. Referring to fig. 1, fig. 1 is a schematic diagram of a wireless charging technology according to an embodiment of the present application.
Fig. 1 includes a wireless charging apparatus 101 and a terminal 102. The terminal 102 in the embodiment of the present application is suitable for various electronic devices with a wireless charging function, and is particularly suitable for some portable devices, such as mobile phones, tablet computers, notebook computers, various wearable devices, and other terminal products. This type of terminal product has higher requirement to the mobility, adopts wireless charger can break away from the constraint of charging wire, is favorable to improving terminal product's mobility and promotion user experience.
To further understand the functions implemented by the wireless charging device and the terminal in the wireless charging technology, the following description is made in detail with reference to fig. 2. Fig. 2 is a schematic structural diagram of a wireless charging system. The wireless charging system includes a power supply 201, a wireless charger 202, and a terminal 203. The wireless charger 202 includes a power amplifier 204, a capacitor 205, and a transmitting coil 206. The terminal 203 includes a receiving coil 207, a rectifying circuit 208 and a load 209.
The power supply 201 is used to power the wireless charger 202. The power source 201 may be Direct (DC) or Alternating (AC) depending on the actual situation. If the power supply 201 is an alternating current, the wireless charger 202 may further include an AC/DC unit for converting the alternating current to a direct current. Regardless of whether the wireless charger 202 is a direct current input or an alternating current input, the wireless charger 202 may further include a DC/DC unit for reducing the voltage of the direct current. The power amplifier 204 may be understood as a DC/AC unit for converting direct current into alternating current. In general, the frequency of the ac power output from the power amplifier 204 is higher than the frequency of the power supply 201, and the ac power is referred to as a high-frequency ac power in the present application. A capacitor 205 is located between the power amplifier 204 and the transmitter coil 206 for dc blocking. The transmitting coil 206 is used for receiving the high-frequency alternating current output by the power amplifier 204 and generating a magnetic field. This magnetic field is used to charge the receiver coil 207 by means of electromagnetic induction or magnetic field resonance. The electromagnetic induction means that a magnetic field generated by the transmitting coil 206 is changed at the receiving coil 207, so that a magnetic flux of the receiving coil 207 is changed, thereby generating a current. Magnetic resonance means that the transmit coil 206 and the receive coil are at the same frequency, or resonate at a particular frequency, and they can exchange energy with each other. The receiving coil 207 receives the energy of the transmitting coil 206 and outputs alternating current to the rectifying circuit 208, the rectifying circuit 208 is used for converting the alternating current into direct current and supplying power to the load 209, and the load 209 can be understood as a terminal battery or other elements requiring electric energy.
Regardless of electromagnetic induction or magnetic resonance, the transmitter coil 206 and the receiver coil 207 have certain relative position requirements in order to ensure the efficiency of wireless charging. In electromagnetic induction, for example, it is generally desirable that the magnetic field distribution of the transmitting coil 206 is strongest at the receiving coil 207, so that the magnetic flux in the receiving coil 207 changes most and the resulting current is the largest. In order to ensure the stability of the electronic device, the coils in the electronic device are generally arranged in a fixed manner in the electronic device, such as the transmitting coil 206 of the wireless charging device 202 and the receiving coil 207 of the terminal 203. Therefore, the relative positions of the transmitting coil 206 and the receiving coil 207 may also be understood as the relative positions of the wireless charging device 202 and the terminal 203.
In order to ensure the relative position of the wireless charging device 202 and the terminal 203, the position and posture of the terminal 203 during wireless charging can be completely limited by a clamp or a groove arranged on the carrier. The relative positions of wireless charging device 202 and terminal 203 may be fixed assuming that the position and orientation of wireless charging device 202 is unchanged. The method needs a clamp or a carrier, so that the hardware cost is increased, and the wireless charging scene is limited, so that the mobility and the user experience of the terminal are reduced. In order to improve the application scene of wireless charging and improve the user experience, the application provides a method for determining the position and the posture of a terminal. In the method, a first corresponding relation is established in advance, and the first corresponding relation is the corresponding relation between the position posture of the terminal and the impedance. After acquiring the voltage and the current of the transmitting coil 206, the impedance is acquired according to the voltage and the current, and then the position and the posture of the terminal are obtained through the impedance and the first corresponding relationship. Please refer to fig. 3, wherein fig. 3 is a schematic flowchart illustrating a process of determining a position and a posture of a terminal according to an embodiment of the present application.
In step 301, the wireless charging device excites M different sets of transmit coils at M different points in time.
In the above fig. 2, for the description of the relationship of the transmitting coil and the receiving coil, the case where the wireless charging device includes one transmitting coil is explained. In practical applications, the wireless charging device may comprise a plurality of transmitting coils. As shown in fig. 4, fig. 4 is another schematic structural diagram of the wireless charging system in the embodiment of the present application. In the wireless charging system, some elements, such as a load in a terminal, are omitted. The wireless charging device includes 4 transmitting coils. The 4 transmission coils are a transmission coil 401, a transmission coil 402, a transmission coil 403, and a transmission coil 404, respectively. It should be appreciated that in practical applications, the wireless charging device may have more or fewer transmit coils. The terminal includes a receiving coil 405. There is a particular magnetic coupling or "mutual inductance" between any pair of coils, for example, between the receive coil 405 and each transmit coil. For example, real numbers in henry units, or equivalently volt-seconds/ampere. For example, a mutual inductance K1 exists between the transmitter coil 401 and the receiver coil 405, and a mutual inductance K2 exists between the transmitter coil 402 and the receiver coil 405. In addition to mutual coupling between the transmitter coil and the receiver coil, there is also a certain magnetic coupling or "mutual inductance" between the transmitter coil and the transmitter coil. For example, a mutual inductance K12 exists between the transmitter coil 401 and the transmitter coil 402, and a mutual inductance K23 exists between the transmitter coil 402 and the transmitter coil 403.
In 3-dimensional space, 6 degrees of freedom are required to determine the position and orientation of an object, the 6 degrees of freedom being three independent coordinates (x, y, z) and three azimuth angles (α, β, γ), respectively. Therefore, for convenience of description, in the embodiment of the present application, N will be described as 6, where N is used to determine the position and orientation of the terminal, and will be described later. After assuming that N is 6, M is a number of 6 or more. Here, we assume that M is 8. The 8 different transmit coil sets are transmit coil sets 1-8, respectively. The transmitting coil set 1 comprises a transmitting coil 401, the transmitting coil set 2 comprises a transmitting coil 402, the transmitting coil set 3 comprises a transmitting coil 403, the transmitting coil set 4 comprises a transmitting coil 404, the transmitting coil set 5 comprises a transmitting coil 401 and a transmitting coil 402, the transmitting coil set 6 comprises a transmitting coil 402 and a transmitting coil 403, the transmitting coil set 7 comprises a transmitting coil 403 and a transmitting coil 404, and the transmitting coil set 8 comprises a transmitting coil 404 and a transmitting coil 401.
After determining the 8 different transmit coil sets, the wireless charging device excites the 8 different transmit coil sets at 8 different points in time. For example, the transmitter coil arrangement 1 is activated at a first time and the transmitter coil arrangement 2 is activated at a second time. It should be ensured that it is not necessary to determine 8 different transmit coils before energizing the transmit coils. For example, in the wireless charging system of fig. 4, the wireless charging device sequentially energizes the transmit coils 401-404. After the excitation, it is determined whether the number of the excited transmit coil sets is enough 6, and if not, the transmit coil sets 5-8 are excited in sequence until the number of the excited transmit coil sets reaches at least W, where W may be equal to N or M.
For ease of understanding, the following description of how the wireless charging device energizes the transmit coil is made in conjunction with the circuit in fig. 5. Referring to fig. 5, fig. 5 is another schematic structural diagram of a wireless charging system according to an embodiment of the present disclosure. Fig. 5 includes a wireless charging device 502, a terminal 503, and a power supply 501. Fig. 4 includes 4 transmitting coils, and for the sake of simplicity, one transmitting coil is taken as an example for illustration. In step 301, the wireless charging device excites M different sets of transmit coils at M different points in time. The wireless charging device may be understood as the controller 512 sending a switching tube gate driving control signal, such as a square wave signal, to the driving circuit 511, wherein the square wave signal includes an amplitude and a phase. The driving circuit 511 is configured to amplify the power of the switching tube gate driving control signal output by the controller 512, so as to drive the gate of the switching tube 5103 by using the amplified control signal. The driver circuit 511 may be a triode power amplifier or an integrated gate driver chip.
The switch tube 5103 belongs to the power amplifier 510, the power amplifier 510 may be a class D power amplifier, a class E power amplifier, a class EF power amplifier, etc., and fig. 5 illustrates the class E power amplifier as an example. The inductor 5101 connected to the power supply 501 is an rf choke that allows dc power to pass through to power the power amplifier 510, preventing rf current from passing therethrough, ideally with infinite inductive reactance. The inductor 5102 and the capacitor 5105 form a series resonant circuit which resonates at the frequency of the fundamental wave of the signal, and ideally, the quality factor Q is infinite. The switching tube 5103 is turned on and off according to a gate driving control signal transmitted from the driving circuit 511, so that the inductor 5102 and the capacitor 5105 resonate to convert direct current input from the power supply 501 into alternating current, and the alternating current is transmitted to the transmitting coil 506. Between the transmitter coil 506 and the power amplifier 510, a capacitor 505 is further included for blocking direct current flow to the transmitter coil 506. The descriptions of the receiving coil 507, the rectifying circuit 508 and the load 509 in the terminal 503 are similar to the description of the terminal 203 in fig. 2, and are not repeated here.
In other embodiments, when a transmit coil set includes multiple transmit coils, the control parameters of the multiple transmit coils are different when the multiple transmit coils are energized. The control parameters include phase and/or amplitude. When the principle of the technical scheme in the embodiment of the application is described by using a formula, the reasons of different control parameters of a plurality of transmitting coils are analyzed correspondingly through the formula.
In other embodiments, when a transmit coil set includes multiple coils, the multiple transmit coils are adjacent transmit coils. The larger the influence on the magnetic field distribution between the adjacent transmitting coils is, the larger the impedance change can be obtained, and the accuracy of the obtained position posture is improved.
In step 302, the wireless charging device acquires M sets of voltages and currents for M transmit coils.
In step 301, the wireless charging device excites 8 different transmitting coil sets in turn, and the wireless charging device selects one transmitting coil in each transmitting coil set and obtains a current and a voltage corresponding to the transmitting coil. Where the current is the current through the transmitting coil, the voltage can be understood as the voltage of the power supply 203 in the circuit of fig. 2. The same transmit coil may be selected multiple times, for example, if the wireless charging device selects transmit coil 401 in transmit coil set 1, and if the wireless charging device also selects transmit coil 401 in transmit coil set 5, then transmit coil 401 is selected 2 times.
Referring to fig. 5, the wireless charging device 502 includes a detection circuit 504, and the detection circuit 504 is used for obtaining the current passing through the transmitting coil. The detection circuit 504 may be used to measure the voltage in the circuit, or other circuits or structures may obtain the voltage in the circuit. As can be seen from fig. 5, the voltage measured at the position of the detection circuit 504 is different from the voltage across the power supply 501, and any one of the two voltages is selected to be matched with the current measured by the detection circuit 504, so as to obtain a set of voltage and current. Similarly, the wireless charging device may also obtain M-1 sets of voltages and currents for M-1 transmit coils.
In step 303, the wireless charging device obtains M impedances from the M sets of voltages and currents.
M impedances are calculated according to the formula Z = U/I. Where Z is the impedance and U and I are the M sets of voltages and currents obtained in the previous step 302.
Referring to fig. 5, after the detection circuit 504 obtains the current and the voltage, the detection circuit 504 sends the measurement result to the controller 512, and the measurement result includes 1 set of voltage and current. The controller 512 calculates an impedance based on the 1 set of voltages and currents.
In step 304, the wireless charging device obtains N first degrees of freedom according to the M impedances and the first corresponding relationship.
After obtaining the M impedances, the wireless charging device selects the largest N impedances among the M impedances. And acquiring N first degrees of freedom by utilizing the first corresponding relation of the N impedances, wherein the N impedances are respectively Z1-Z6. Wherein, when the transmission coil group includes one transmission coil and the transmission coil group includes a plurality of transmission coils, the first correspondence relationship is different. A first correspondence of impedance and a first degree of freedom when the transmit coil set comprises one transmit coil set is described below. The first correspondence is as follows:
wherein, the first and the second end of the pipe are connected with each other,
the magnetic field strength generated on the receiving coil for the transmitting coil.
B x ＝p×I i cos(ωt)×f x (x, y, z) formula 1.1
B y ＝p×I i cos(ωt)×f y (x，y，z)
B z ＝p×I i cos(ωt)×f z (x，y，z)
P is a constant. f. of i (x, y, z) denotes three independent coordinates (x, y, z) with the receiving coilFunction, in the case of x, y, z determination, f i (x, y, z) is a constant, f i (x, y, z) includes f x (x，y，z)，f y (x，y，z)，f z (x，y，z)。
Three azimuth angles of the receiving coil, S is the area of the receiving coil, I i Is the magnitude of the current of the transmit coil. t is time in seconds(s), ω is the resonant frequency of the power amplifier corresponding to the transmitting coil, zi () is the impedances Zi and M oi A function of the correlation. Self-inductance (L) at the transmitting coil i ) And receiving coil self-inductance (L) o ) In the same case, mo1 and K are in positive correlation, and K can be K1, K2, K3 or K4 in FIG. 4. This formula is derived below.
The expression for the magnetic coupling of the transmitter coil and the receiver coil is:
m in formula 2 oi Refers to the magnetic coupling of the transmitter coil and the receiver coil, I is the current of the transmitter coil, phi o For receiving the magnetic field strength of the coil, phi o Can be obtained by equation 3, and I can be obtained by equation 4, where equations 3 and 4 are:
I＝I i cos ω t equation 4
Integrating equation 2, equation 3, and equation 4, one can get:
on the other hand, in the case of a system,
l in equation 6 i The self-inductance of the ith transmit coil is given in henry (H), and uH is commonly used. L is o Is the self-inductance of the receiving coil. Ri in equation 7 is the parasitic internal resistance of the ith transmit coil in ohms (Ω); ro is parasitic internal resistance of the receiving coil and has the unit of ohm (omega); rref i Impedance reflected to the detected transmitting coil for the other ith transmitting coil; rrec is the receiving end rectifier input impedance. Zi and M can be found from equation 5, equation 6, and equation 7 oi There is a certain functional relationship, and for the sake of simplicity of description, the impedances Zi and M are expressed by Zi () oi The relationship (c) in (c).
The N impedances are Z1 to Z6, and it is assumed that the impedances Z1 to Z4 correspond to the transmitting coil sets 1 to 4 in step 301, and the impedances Z5 to Z6 correspond to the transmitting coil sets 5 to 6. The transmission coil group corresponding to the impedances Z1 to Z4 includes one transmission coil, so that 4 equations of the relationship between Zi and 6 first degrees of freedom can be established by formula 1. When one transmission coil set includes a plurality of transmission coils, the first correspondence relationship is different. The first correspondence relationship will be described below by taking an example in which one transmission coil set includes two transmission coils.
In this case, the formula in the first correspondence relationship is as shown in formula 1. But in equation 1
B of (A) x ，B y ，B z The differences are as follows:
B x ＝p×(I 1 cosωt×f x1 (x，y，z)+I 2 cos(ωt+θ)×f x2 (x, y, z)) formula 1.2
B y ＝p×(I 1 cosωt×f y1 (x，y，z)+I 2 cos(ωt+θ)×f y2 (x，y，z))
B z ＝p×(I 1 cosωt×f z1 (x，y，z)+I 2 cos(ωt+θ)×f z2 (x，y，z))
θ is the current phase angle in degrees (degree) and represents the phase difference between the two transmit coils. By using the corresponding equation 1 in the case where one transmission coil set includes two transmission coils, 2 equations of the relationship of Z5, Z6 and 6 first degrees of freedom, respectively, can be obtained. From this point on, the wireless charging device establishes 6 equations of 6 impedances and 6 first degrees of freedom, and in the case where only 6 degrees of freedom are unknowns, by solving the 6 equations, 6 first degrees of freedom can be obtained. These 6 first degrees of freedom are the three independent coordinates (x, y, z) and the three azimuth angles (α, β, γ) of the transmit coil, respectively.
When M different sets of transmit coils are initially energized in step 301 described above, when one set of transmit coils includes a plurality of transmit coils, the control parameters of the plurality of transmit coils are different when the plurality of transmit coils are energized. In this case, the example of the plurality of transmitting coils being 2 transmitting coils is taken to illustrate that the 2 transmitting coils are different in phase and/or amplitude. Please refer to equation 1.1 and equation 1.2. When the phase and amplitude of the 2 transmitting coils are the same, it can be understood that θ does not exist, I in equation 1.2 1 And I 2 Equal, and, due to the close location of the 2 transmit coils, f 1 (x, y, z) and f 2 (x, y, z) are close, then equation 1.2 and equation 1 may be a simple multiple relationship. In this case, when the 6 first degrees of freedom are subsequently calculated using equation 1, 2 equations 1 consisting of equation 1.1 and equation 1.2, respectively, can be understood as having only one equation 1. Therefore, the phase and/or amplitude of the 2 transmitting coils need to be different, the equation quality of the subsequently established N equations can be ensured, and the probability of correctly solving the 6 first degrees of freedom is improved.
In step 305, the wireless charging device obtains control parameters of the target transmitting coil group according to the N first degrees of freedom and the second corresponding relationship.
The target transmitting coil set includes part or all of the transmitting coils of the wireless charging device, and for convenience of description, the target transmitting coil set includes the transmitting coils 401 to 404. Is confirmed in the above step 304After the position posture of the terminal is determined, the wireless charging equipment acquires the control parameters of the target transmitting coil according to the 6 degrees of freedom in the position posture and the second corresponding relation. The second correspondence may be a neural network model, an equation, or a system of equations. The second correspondence embodies a correspondence of the N first degrees of freedom and the control parameter of the target transmit coil. In the case where the N first degrees of freedom and the second correspondence are known, the control parameters of the target transmission coil may be calculated using the N first degrees of freedom and the second correspondence. The control parameters may include phase and/or amplitude, and are described herein as examples of control parameters including phase and amplitude. In case it is assumed that the target transmission coil comprises a transmission coil 401-404, then the control parameter comprises I 1 ，I 2 ，I 3 ，I 4 ，θ 21 ，θ 31 ，θ 41 . Wherein, I 1 ，I 2 ，I 3 ，I 4 Corresponding to the amplitude of the current, theta, in the transmitter coils 401-404, respectively 21 Is the phase difference, θ, of the transmitting coil 402 to the transmitting coil 401 31 Is the phase difference of the transmitter coil 403 to the transmitter coil 401, θ 41 Is the phase difference of the transmit coil 404 to the transmit coil 401. The second correspondence relationship is described below by taking the equation as an example.
From equation 3 above, it can be seen that:
wherein, MAX phi o Indicating the maximum strength of induction on the receiving coil.
B x ＝p×(I 1 cosωt×f 1 (x，y，z)+I 2 cos(ωt+θ 21 )×f 2 (x，y，z)+I 3 cos(ωt+θ 31 ×f 2 (x，y，z)+I 4 cos(ωt+θ 41 )×f 2 (x，y，z))
Since f is determined in the case of x, y, z i (x, y, z) isConstant, so f is ignored here i (x, y, z) and p. Obtaining:
B x ＝(I 1 cosωt+I 2 cos(ωt+θ 21 )+I 3 cos(ωt+θ 31 )+I 4 cos(ωt+θ 41 ))
the formula of trigonometric transformation can be used to obtain:
wherein, I x Is a function of the magnetic field strength in the x direction, represented by the phase of the current amplitude in the respective transmitter coil, theta x Is a function of the phase of the magnetic field in the x-direction, represented by the phase of the amplitude of the current in the respective transmit coil.
Analogously, B can be obtained z And B z ：
In order to improve the wireless charging effect in the current position posture of the terminal, it is desirable that the magnetic field strength on the terminal is the strongest, and therefore, it is desirable to acquire Φ o Maximum value of (i.e. MAX φ) o . MAX φ where x, y, z and α, β, γ are known o Is a is independent of t, and I 1 ，I 2 ，I 3 ，I 4 ，θ 21 ，θ 31 ，θ 41 The associated equation. After equation 8 is obtained, phi can be obtained using KK conditions or genetic algorithms o At maximum value I 1 ，I 2 ，I 3 ，I 4 ，θ 21 ，θ 31 ，θ 41 。
To this end, the wireless charging device acquires 7 control parameters of the target transmit coil set. And the wireless charging equipment excites the corresponding transmitting coil in the target transmitting coil group according to the 7 parameters to wirelessly charge the terminal. Specifically, referring to fig. 4, after obtaining 7 control parameters, the controller 406 may generate 4 groups of switching tube gate driving control signals according to the 7 control parameters, where the 4 groups of switching tube gate driving control signals are respectively used for exciting corresponding transmitting coils. The target rate of change is a rate of change of voltage or current of a target transmit coil, the target transmit coil being one or more transmit coils in a set of target transmit coils. The manner of generating a set of gate driving control signals for the switching tube by the controller 406 can be as shown in fig. 6, taking the frequency of the control signals as 6.78M as an example, and fig. 6 is a schematic flow chart of generating the gate driving control signals for the switching tube by the wireless charging device in this embodiment of the present application.
The controller comprises a software part and a hardware part. In the software portion, the controller first generates a 500MHz clock signal and a 6.78MHz reference signal using a field-programmable gate array (FPGA). The controller detects the rising edge of the 6.78MHz signal and generates a 6.78MHz signal with a variable duty cycle by variable counting with a 500MHz clock signal. And then the controller inputs the 6.78MHz signal with variable duty ratio into the variable depth shift register, and the 6.78MHz driving control signal with variable duty ratio and phase is obtained at the output end of the register. And then, a hardware part in control receives a 6.78MHz driving control signal with variable duty ratio and phase and outputs the driving signal to a switching tube.
The above describes a method of determining the terminal position posture in the embodiment of the present application. In the embodiment of the application, under the condition that the position and the posture of the terminal are different, the control parameters of different target transmitting coil groups can be obtained. The principle is that when the control parameters of the transmitting coil sets are different, the magnetic field distribution of the target transmitting coil set can be changed. Therefore, the control parameters of the target transmitting coil group can be adjusted according to the position posture of the terminal, so that the position of the terminal can have stronger magnetic field intensity. The following explains the principle that the target transmitting coil set includes 2 transmitting coils and the control parameter includes a phase. Referring to fig. 7, fig. 7 is a diagram illustrating magnetic field distributions of the transmitting coils at different phases according to an embodiment of the present application. Spit 7 includes 7a and 7b. In 7a, the phase difference between the transmitting coil 701 and the transmitting coil 702 is 0 radians. 7a includes a front view 7a and a plan view 7a. In 7b, the phase difference between the transmit coil 701 and the transmit coil 702 is 180 radians. 7b include a front view 7b and a top view 7b. In fig. 7, the dashed lines with arrows indicate magnetic field lines, and the magnetic field lines of the transmitting coil are different between 7a and 7b. When the position and orientation of the receiver coil 703 are not changed, the number of magnetic field lines passing through the receiver coil 703 is also different. Thus, changing the phase of the target transmit coil set can change the magnetic field distribution of the target transmit coil set. The description of this point can also be used to explain why the control parameters of the plurality of transmission coils are different when it is desired to initially energize M different sets of transmission coils in step 301.
In step 301, when one transmitting coil set includes a plurality of coils, the plurality of transmitting coils are adjacent transmitting coils. In the following, a supplementary explanation is made on the concept of adjacency, where the transmitter coil 1 and the transmitter coil 2 are adjacent to each other, and the transmitter coil 2 is the transmitter coil closest to the transmitter coil 1. It should be noted that the transmission coil closest to the transmission coil 1 may include a plurality of transmission coils. For example, taking fig. 8 as an example, fig. 8 is a schematic distribution diagram of the target transmitting coil set in the embodiment of the present application. In 8a, the transmit coil 1 and the transmit coil 2, the transmit coil 4 are adjacent. The transmitting coil 2 is adjacent to the transmitting coil 3, and the transmitting coil 4 is adjacent to the transmitting coil. In 8b, the transmitter coil 1 is adjacent to the transmitter coil 2, and the transmitter coil 3 is adjacent to the transmitter coils 2, 4. Fig. 8 is only two examples, and in practical applications, the distribution form of the target transmitting coil set is not limited, and whether two or more transmitting coils are adjacent may be determined by using the above method according to the distribution form of the target transmitting coil set.
By the method for determining the terminal position posture in the embodiment of the application, the terminal position posture can be determined under the condition that the terminal and the wireless charging equipment are not in communication, corresponding control parameters are determined according to the terminal position posture, and the magnetic field distribution of the wireless charging equipment is controlled by using the control parameters, so that the position of the terminal can have a better magnetic field intensity. The following describes an apparatus for determining a terminal position posture in the embodiment of the present application.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an apparatus for determining a position and an attitude of a terminal according to an embodiment of the present application.
The device includes: an excitation module 901, configured to excite M different transmit coil sets at M different time points, where each transmit coil set includes one or more transmit coils, and M is an integer greater than 1;
a first obtaining module 902, configured to obtain N groups of voltages and currents of N transmitting coils, where the N transmitting coils correspond to N different transmitting coil groups one to one, the M different transmitting coil groups include the N different transmitting coil groups, and N is an integer greater than 1;
a second obtaining module 903, configured to obtain N impedances according to the N groups of voltages and currents;
a third obtaining module 904, configured to obtain N first degrees of freedom according to the N impedances and the first corresponding relationship.
In other embodiments, the modules in the apparatus are further configured to perform all or part of the operations that the wireless charging device in the corresponding embodiment of fig. 3 may perform.
The above describes the apparatus for determining the position and orientation of the terminal in the embodiment of the present application, and the following describes the device for determining the position and orientation of the terminal in the embodiment of the present application. Referring to fig. 10, fig. 10 is a schematic structural diagram of an apparatus for determining a position and an attitude of a terminal according to an embodiment of the present disclosure.
As shown in fig. 10, the apparatus 1000 for determining the terminal position posture includes a controller 1010, a power amplifier 1020 connected to the controller 1010, a transmitting coil 1030 connected to the power amplifier 102, and a detecting circuit 1040 connected to the controller 1010 and the transmitting coil 1030.
The controller 1010 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP. The controller may also be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof. The controller 1010 may refer to a single processor or may include multiple controllers.
The power amplifier 1020 is used to convert the electric energy from dc to ac, and the generated ac current is used to drive the transmitting coil 1030 to transmit energy, and the specific implementation form may be a class D power amplifier, a class E power amplifier, a class EF power amplifier, and the like.
In the embodiment of the present application, the controller 1010 is configured to output a switching tube gate driving control signal to control the switching tube in the power amplifier 1020 to turn on and off, so as to excite M different transmit coil sets at M different time points, where each transmit coil set includes one or more transmit coils 1030, and M is an integer greater than 1; acquiring N groups of voltages and currents of the N transmitting coils 1030 through the detection circuit 1040, where the N transmitting coils 1030 correspond to N different transmitting coil groups one to one, where M different transmitting coil groups include N different transmitting coil groups, and N is an integer greater than 1; obtaining N impedances according to the N groups of voltages and currents; and acquiring N first degrees of freedom according to the N impedances and the first corresponding relation, wherein the N first degrees of freedom are used for determining the position posture of the terminal.
Optionally, the apparatus 1000 for determining a position and an orientation of a terminal further includes a driving circuit, an input terminal of the driving circuit is connected to the controller 1010, an output terminal of the driving circuit is connected to the power amplifier 1020, and the driving circuit is configured to power-amplify the switching tube gate driving control signal output by the controller 1010, so as to gate-drive the switching tube in the power amplifier 1020. The driving circuit can be a triode power amplifier or an integrated gate driving chip.
Optionally, the apparatus 1000 for determining the terminal position posture further includes a memory, and the memory may include a volatile memory (volatile memory), such as a random-access memory (RAM); the memory may also include a non-volatile memory (non-volatile memory), such as a read-only memory (ROM), a FRAM memory, a flash memory, a hard disk (HDD) or a solid-state drive (SSD); the memory may also comprise a combination of memories of the kind described above. In other embodiments, the control 1010 is further configured to execute, after executing the computer-readable instructions in the memory, all or part of the operations that the wireless charging device can perform, according to the instructions of the computer-readable instructions, for example, the operations that the wireless charging device performs in the embodiment corresponding to fig. 3. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program codes, such as a flash disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
Claims (21)
1. A method for determining a position and orientation of a terminal, comprising:
exciting M different transmit coil sets at M different points in time, each transmit coil set comprising one or more transmit coils, M being an integer greater than 1;
acquiring N groups of voltage and current of N transmitting coils, wherein the N transmitting coils correspond to N different transmitting coil groups one by one, the M different transmitting coil groups comprise the N different transmitting coil groups, and N is an integer greater than 1;
obtaining N impedances according to the N groups of voltages and currents;
and obtaining N first degrees of freedom according to the N impedances and a first corresponding relation, wherein the first corresponding relation comprises the corresponding relation between the impedances and the first degrees of freedom, the N first degrees of freedom comprise a plurality of degrees of freedom in six degrees of freedom, the six degrees of freedom comprise three independent coordinates and three azimuth angles, and the N first degrees of freedom are used for determining the position posture of the terminal.
2. The method of claim 1, further comprising:
acquiring control parameters of a target transmitting coil group according to the N first degrees of freedom and a second corresponding relation, wherein the control parameters comprise amplitude and/or phase, and the second corresponding relation comprises the corresponding relation between the N first degrees of freedom and the control parameters of the target transmitting coil;
and exciting the target transmitting coil group according to the control parameters to wirelessly charge the terminal.
3. The method of claim 2, wherein after the target transmit coil set is excited according to the control parameter to wirelessly charge the terminal, the method comprises:
if the target change rate is greater than a first threshold, exciting the M different transmitting coil sets at M different time points to obtain N second degrees of freedom, where the N second degrees of freedom include multiple degrees of freedom among the six degrees of freedom, the target change rate is a voltage or current change rate of a target transmitting coil, and the target transmitting coil is one or more transmitting coils in the target transmitting coil set.
4. The method of any one of claims 1 to 3, wherein the obtaining N sets of voltages and currents for N transmit coils comprises:
obtaining M groups of voltage and current of M transmitting coils, wherein the M transmitting coils correspond to the M different transmitting coil groups one by one, and the M groups of voltage and current comprise the N groups of voltage and current;
the obtaining N impedances from the N sets of voltages and currents comprises:
obtaining M impedances from the M sets of voltages and currents, the M impedances including the N impedances, each of the N impedances greater than each of the M-N impedances.
5. The method of claim 2 or 3, wherein N is equal to M, wherein a set of all different transmit coils of the M different transmit coil sets is equal to the target transmit coil set, wherein the number of target transmit coil sets is less than N, wherein at least one transmit coil set of the M different transmit coil sets comprises a plurality of transmit coils, and wherein the plurality of transmit coils of the at least one transmit coil set differ in amplitude and/or phase when the M different transmit coil sets are energized.
6. The method of claim 5, wherein the plurality of transmit coils are adjacent transmit coils.
7. The method of claim 1, wherein N is 6.
8. An apparatus for determining a position posture of a terminal, comprising:
an excitation module for exciting M different transmit coil sets at M different time points, each transmit coil set comprising one or more transmit coils, M being an integer greater than 1;
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring N groups of voltages and currents of N transmitting coils, the N transmitting coils correspond to N different transmitting coil groups one by one, the M different transmitting coil groups comprise the N different transmitting coil groups, and N is an integer greater than 1;
the second acquisition module is used for acquiring N impedances according to the N groups of voltages and currents;
and the third acquisition module is used for acquiring N first degrees of freedom according to the N impedances and a first corresponding relation, the first corresponding relation comprises a corresponding relation between the impedances and the first degrees of freedom, the N first degrees of freedom comprise a plurality of degrees of freedom in six degrees of freedom, the six degrees of freedom comprise three independent coordinates and three azimuth angles, and the N first degrees of freedom are used for determining the position posture of the terminal.
9. The apparatus of claim 8,
the third obtaining module is further configured to obtain control parameters of a target transmitting coil group according to the N first degrees of freedom and a second corresponding relationship, where the control parameters include amplitudes and/or phases, and the second corresponding relationship includes a corresponding relationship between the N first degrees of freedom and the control parameters of the target transmitting coil;
the excitation module is further configured to excite the target transmitting coil set according to the control parameter, so as to wirelessly charge the terminal.
10. The apparatus of claim 9,
the excitation module is further configured to excite M different transmit coil sets at M different time points to obtain N second degrees of freedom if a target change rate is greater than a first threshold, where the N second degrees of freedom include multiple degrees of freedom among the six degrees of freedom, the target change rate is a voltage or current change rate of a target transmit coil, and the target transmit coil is one or more transmit coils in the target transmit coil set.
11. The apparatus of any one of claims 8 to 10,
the first obtaining module is specifically configured to obtain M groups of voltages and currents of M transmitting coils, where the M transmitting coils correspond to the M different transmitting coil groups one to one, and the M groups of voltages and currents include the N groups of voltages and currents;
the second obtaining module is specifically configured to obtain M impedances according to the M groups of voltages and currents, where the M impedances include the N impedances, and each of the N impedances is greater than each of the M-N impedances.
12. The apparatus of claim 9 or 10, wherein N is equal to M, wherein a set of all different transmit coils of the M different transmit coil sets is equal to the target transmit coil set, wherein the number of target transmit coil sets is less than N, wherein at least one transmit coil set of the M different transmit coil sets comprises a plurality of transmit coils, and wherein the plurality of transmit coils of the at least one transmit coil set differ in amplitude and/or phase when the M different transmit coil sets are energized.
13. The apparatus of claim 12, wherein the plurality of transmit coils are adjacent transmit coils.
14. The apparatus of claim 8, wherein N is 6.
15. An apparatus for determining a position attitude of a terminal, comprising:
the device comprises a controller, a power amplifier, a transmitting coil and a detection circuit;
the controller is used for outputting a switching tube gate electrode driving control signal and controlling the switching tube in the power amplifier to be switched on and off, so that M different transmitting coil groups are excited at M different time points, each transmitting coil group comprises one or more transmitting coils, and M is an integer greater than 1;
the controller is further configured to obtain N groups of voltages and currents of N transmit coils through the detection circuit, where the N transmit coils correspond to N different transmit coil groups one to one, the M different transmit coil groups include the N different transmit coil groups, and N is an integer greater than 1;
the controller is further used for obtaining N impedances according to the N groups of voltages and currents;
the controller is further configured to obtain N first degrees of freedom according to the N impedances and a first corresponding relationship, the first corresponding relationship includes a corresponding relationship between the impedances and the first degrees of freedom, the N first degrees of freedom include multiple degrees of freedom among six degrees of freedom, the six degrees of freedom include three independent coordinates and three azimuth angles, and the N first degrees of freedom are used to determine a position posture of the terminal.
16. The apparatus of claim 15,
the controller is further configured to obtain control parameters of a target transmitting coil group according to the N first degrees of freedom and a second corresponding relationship, where the control parameters include an amplitude and/or a phase, and the second corresponding relationship includes a corresponding relationship between the N first degrees of freedom and the control parameters of the target transmitting coil;
the controller is further configured to excite the target transmitting coil set according to the control parameter, and wirelessly charge the terminal.
17. The apparatus of claim 16,
the controller is further configured to excite M different sets of transmit coils at M different time points to obtain N second degrees of freedom if a target rate of change is greater than a first threshold, the N second degrees of freedom including multiple ones of the six degrees of freedom, the target rate of change being a rate of change of voltage or current of a target transmit coil, the target transmit coil being one or more transmit coils of the set of target transmit coils.
18. The apparatus according to any one of claims 15 to 17,
the controller is specifically configured to obtain, by the detection circuit, M groups of voltages and currents of M transmit coils, where the M transmit coils correspond to the M different transmit coil groups one to one, and the M groups of voltages and currents include the N groups of voltages and currents;
the controller is specifically configured to obtain M impedances from the M groups of voltages and currents, the M impedances including the N impedances, each of the N impedances being greater than each of the M-N impedances.
19. The apparatus of claim 16 or 17, wherein N is equal to M, wherein a set of all different transmit coils of the M different transmit coil sets is equal to the target transmit coil set, wherein the number of target transmit coil sets is less than N, wherein at least one transmit coil set of the M different transmit coil sets comprises a plurality of transmit coils, and wherein the plurality of transmit coils of the at least one transmit coil set differ in amplitude and/or phase when the M different transmit coil sets are energized.
20. The apparatus of claim 19, wherein the plurality of transmit coils are adjacent transmit coils.
21. The apparatus of claim 15, wherein N is 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011140252.6A CN112350458B (en) | 2020-10-22 | 2020-10-22 | Method and device for determining position and posture of terminal and related equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011140252.6A CN112350458B (en) | 2020-10-22 | 2020-10-22 | Method and device for determining position and posture of terminal and related equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112350458A CN112350458A (en) | 2021-02-09 |
| CN112350458B true CN112350458B (en) | 2023-03-10 |
Family
ID=74359774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011140252.6A Active CN112350458B (en) | 2020-10-22 | 2020-10-22 | Method and device for determining position and posture of terminal and related equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112350458B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958483A (en) * | 2018-06-29 | 2018-12-07 | 深圳市未来感知科技有限公司 | Rigid body localization method, device, terminal device and storage medium based on interaction pen |
| CN109217439A (en) * | 2018-11-16 | 2019-01-15 | 京东方科技集团股份有限公司 | Wireless charging device and charging system |
| CN109995121A (en) * | 2019-05-05 | 2019-07-09 | 中国科学技术大学 | The multi-to-multi wireless charging device and control method of power optimized |
| CN111740512A (en) * | 2020-08-21 | 2020-10-02 | 广东希荻微电子有限公司 | Wireless charging transmitting terminal system and control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8450997B2 (en) * | 2009-04-28 | 2013-05-28 | Brown University | Electromagnetic position and orientation sensing system |
-
2020
- 2020-10-22 CN CN202011140252.6A patent/CN112350458B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958483A (en) * | 2018-06-29 | 2018-12-07 | 深圳市未来感知科技有限公司 | Rigid body localization method, device, terminal device and storage medium based on interaction pen |
| CN109217439A (en) * | 2018-11-16 | 2019-01-15 | 京东方科技集团股份有限公司 | Wireless charging device and charging system |
| CN109995121A (en) * | 2019-05-05 | 2019-07-09 | 中国科学技术大学 | The multi-to-multi wireless charging device and control method of power optimized |
| CN111740512A (en) * | 2020-08-21 | 2020-10-02 | 广东希荻微电子有限公司 | Wireless charging transmitting terminal system and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112350458A (en) | 2021-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3031129B1 (en) | Method for parameters identification, load monitoring and output power control in wireless power transfer systems | |
| KR101338654B1 (en) | Apparatus for transmitting wireless power, apparatus for receiving wireless power, system for transmitting wireless power and method for transmitting wireless power | |
| US10903692B2 (en) | Systems and methods for load position detection and power control of omni-directional wireless power transfer | |
| WO2016191999A1 (en) | Fast method for identifying coil misalignment/mutualcoupling in wireless charging systems | |
| US10333353B2 (en) | Omnidirectional wireless power transfer system | |
| JP5465640B2 (en) | Resonance type wireless power transmission apparatus and resonance type wireless power transmission method | |
| KR101262615B1 (en) | Apparatus for transmitting wireless power, apparatus for receiving wireless power, system for transmitting wireless power and method for transmitting wireless power | |
| JP6406225B2 (en) | Non-contact power feeding device | |
| JP6612886B2 (en) | Method and apparatus for wireless power transfer utilizing a power transmission coil driven by a phase shifted current | |
| CN103986243A (en) | Optimization design method of magnetic coupling resonant type wireless electric power transmission system | |
| CN112350458B (en) | Method and device for determining position and posture of terminal and related equipment | |
| JP6035284B2 (en) | Non-contact power transmission device | |
| CN105141044A (en) | Double-source wireless power supply system parameter online detection and power supply cooperative control method | |
| Lin et al. | Power and efficiency of 2-D omni-directional wireless power transfer systems | |
| JP6178404B2 (en) | Power receiving device | |
| CN108695992B (en) | Real-time maximum power transmission method of three-dimensional wireless electric energy transmission system | |
| CN108258817B (en) | Wireless charging impedance matching system and method | |
| WO2012073472A1 (en) | Electrical power transmission system | |
| US10651687B2 (en) | Detuning for a resonant wireless power transfer system including cryptography | |
| JP6551974B2 (en) | Matching device and mobile power feeding system | |
| JP6758630B2 (en) | Wireless power transfer system | |
| CN110808640B (en) | Method for determining power transmission efficiency of magnetic resonance type wireless electric energy transmission system | |
| CN110277839A (en) | A kind of salt free ligands controllable electric magnetic field generation method | |
| Afjei et al. | Resonant inductive coupling as a potential means for wireless power transfer to printed spiral coil | |
| KR20130096210A (en) | Apparatus for transmitting wireless power, apparatus for receiving wireless power, system for transmitting wireless power and method for transmitting wireless power |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |