CN114079325A

CN114079325A - Wireless charging method, device, electronic equipment, system and readable storage medium

Info

Publication number: CN114079325A
Application number: CN202111456111.XA
Authority: CN
Inventors: 张秀生
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2022-02-22

Abstract

The application relates to a wireless charging method, a wireless charging device, an electronic device, a wireless charging system and a readable storage medium. The method comprises the following steps: acquiring an initial distance between a receiving coil in the mobile equipment and a transmitting coil of the charging pile; detecting whether a position offset exists between the receiving coil and the transmitting coil or not according to the initial distance and a preset distance range; the preset distance range is related to the heights of different preset areas on the transmitting coil; and if the position deviation exists between the receiving coil and the transmitting coil, controlling the movable equipment to move to a position where the receiving coil is aligned with the transmitting coil, and controlling the receiving coil to enter a wireless charging state. By adopting the method, the charging efficiency of the movable equipment can be improved.

Description

Wireless charging method, device, electronic equipment, system and readable storage medium

Technical Field

The present disclosure relates to the field of wireless charging technologies, and in particular, to a wireless charging method, apparatus, electronic device, system, and readable storage medium.

Background

With the development of artificial intelligence technology, more and more intelligent mobile devices have appeared, such as various robots, robot dogs, drones, unmanned vehicles, and so on.

Taking a robot dog as an example, the robot dog has a body structure similar to a quadruped animal, and compared with a wheeled robot, a tracked robot, a humanoid robot and the like, the robot dog has very outstanding advantages in the aspect of terrain adaptation, so that the robot dog has great application value. In general, the operation of the mobile device needs to depend on electric energy, the mechanical dog is no exception, and the mechanical dog has strong motion capability, so that the power consumption capability of the mechanical dog is high.

In view of this, how to improve the charging efficiency of the mobile device has an important influence on the improvement of the working efficiency of the mobile device.

Disclosure of Invention

The embodiment of the application provides a wireless charging method, a wireless charging device, electronic equipment, a wireless charging system and a readable storage medium, and charging efficiency of movable equipment can be improved.

In a first aspect, the present application provides a wireless charging method, including:

acquiring an initial distance between a receiving coil in the mobile equipment and a transmitting coil of the charging pile;

detecting whether a position offset exists between the receiving coil and the transmitting coil or not according to the initial distance and a preset distance range; the preset distance range is related to the heights of different preset areas on the transmitting coil;

and if the position deviation exists between the receiving coil and the transmitting coil, controlling the movable equipment to move to a position where the receiving coil is aligned with the transmitting coil, and controlling the receiving coil to enter a wireless charging state.

In a second aspect, the present application provides a wireless charging apparatus, the apparatus comprising:

the first acquisition module is used for acquiring an initial distance between a receiving coil in the mobile equipment and a transmitting coil of the charging pile;

the first detection module is used for detecting whether position deviation exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range; the preset distance range is related to the heights of different preset areas on the transmitting coil;

the first control module is used for controlling the movable equipment to move to a position where the receiving coil is aligned with the transmitting coil and controlling the receiving coil to enter a wireless charging state if the receiving coil and the transmitting coil have position deviation.

In a third aspect, the present application provides an electronic device comprising a processing component, a receiving coil, and a distance measuring component;

the distance measuring component is used for measuring the initial distance between the receiving coil and the transmitting coil of the charging pile under the control of the processing component

The processing component is used for detecting whether position offset exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range; the preset distance range is related to the heights of different preset areas on the transmitting coil;

the processing component is further configured to control the mobile device to move to a position where the receiving coil is aligned with the transmitting coil, and control the receiving coil to enter a wireless charging state if a position offset exists between the receiving coil and the transmitting coil.

In a fourth aspect, the present application provides an electronic device comprising a memory and a processor, the memory having stored therein a computer program, which, when executed by the processor, causes the processor to perform the steps of the method according to the first aspect.

In a fifth aspect, the present application provides a wireless charging system, which includes a charging pile and the electronic device according to the third aspect;

the electronic device is used for executing the wireless charging method in the first aspect;

the charging pile is used for controlling a transmitting coil of the charging pile to wirelessly charge the electronic equipment through a receiving coil of the electronic equipment under the condition that the electronic equipment enters a wireless charging state.

In a sixth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

the wireless charging method, the device, the electronic equipment, the system and the readable storage medium are characterized in that the initial distance between the receiving coil in the movable equipment and the transmitting coil of the charging pile is obtained, then whether the position deviation exists between the receiving coil and the transmitting coil is detected according to the initial distance and the preset distance range, the preset distance range is related to the heights of different preset areas on the transmitting coil, if the position deviation exists between the receiving coil and the transmitting coil, the movable equipment is controlled to move to the position where the receiving coil and the transmitting coil are aligned, and the receiving coil is controlled to enter the wireless charging state, so that the embodiment of the application detects that the position deviation exists between the receiving coil and the transmitting coil (namely the receiving coil and the transmitting coil are not aligned) according to the initial distance and the preset distance range, namely the movable equipment is controlled to move to align the receiving coil and the transmitting coil, according to the electromagnetic theory, the maximization of the charging efficiency can be guaranteed when the receiving coil and the transmitting coil are aligned (or aligned), so that the receiving coil is controlled to enter a wireless charging state after the position of the receiving coil and the position of the transmitting coil are aligned, the wireless charging efficiency is improved, and the maximization of the charging efficiency is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a diagram of an exemplary wireless charging system;

FIG. 2 is a flow diagram of a wireless charging method in one embodiment;

FIG. 3 is a schematic diagram of an exemplary peripherally disposed height gradient region of a transmit coil;

FIG. 4 is a schematic view of an exemplary distribution of different predetermined regions in a height gradient region;

FIG. 5 is a flow chart of step 202 in one embodiment;

FIG. 6 is a schematic diagram of exemplary positions of a mobile device and a transmitter coil;

FIG. 7 is a flow chart of a wireless charging method in another embodiment;

FIG. 8 is a block diagram of a wireless charging device according to an embodiment;

fig. 9 is a schematic diagram of an internal structure of an electronic device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further 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 present application and are not intended to limit the present application.

Fig. 1 is a schematic diagram of an application environment of a wireless charging method according to an embodiment. As shown in fig. 1, the application environment includes a mobile device 101 and a transmitting coil 102, wherein a receiving coil 103 is disposed in the mobile device 101, and the transmitting coil 102 is a transmitting coil of a charging pile for wireless charging. The data storage system may store data that the removable device 101 needs to process. The data storage system may be integrated on the removable device 101, or may be placed on the cloud or other network server.

As shown in fig. 1, the mobile device 101 may obtain an initial distance between the receiving coil 103 in the mobile device 101 and the transmitting coil 102 of the charging pile, and the mobile device 101 detects whether there is a position deviation between the receiving coil 103 and the transmitting coil 102 according to the initial distance and a preset distance range, where the preset distance range is related to heights of different preset areas on the transmitting coil 102, and if there is a position deviation between the receiving coil 103 and the transmitting coil 102, the mobile device 101 controls the mobile device 101 to move to a position where the receiving coil 103 is aligned with the transmitting coil 102, and controls the receiving coil 103 to enter a wireless charging state.

The mobile device 101 may be, but is not limited to, various mobile electronic devices, such as a robot dog, a robot, a drone, an electric vehicle, and the like. The receiving coil 103 and the transmitting coil 102 may be made of metal with strong electric conductivity such as copper or aluminum, and the shapes of the receiving coil 103 and the transmitting coil 102 may be circular, elliptical, and the like.

Fig. 2 is a flow chart of a wireless charging method in one embodiment. The wireless charging method in the present embodiment is described by taking the mobile device 101 in fig. 1 as an example. As shown in fig. 2, the wireless charging method includes

steps

201, 202 and 203:

step 201, the mobile device obtains an initial distance between a receiving coil in the mobile device and a transmitting coil of the charging pile.

As described above, the mobile device may be an electronic device that can autonomously move, such as a robot dog, a robot, a drone, an electric vehicle, and the like. Taking a mechanical dog as an example, the mechanical dog has a body structure similar to a quadruped animal and is characterized by good self balance and terrain adaptability. Compared with a wheeled robot, a tracked robot, a humanoid robot and the like, the robot dog has great advantages in terrain adaptation, particularly has outstanding advantages in complex terrains such as mountain steep slopes, high walls and cliffs and the like, and therefore has great application value.

In this embodiment, the receiving coil may be disposed on a lower surface of a housing of the mobile device, and continuing to take the example that the mobile device is a robot dog, the receiving coil may be disposed on a lower surface of a "body" of the robot dog. If the mobile device detects that the self electric quantity is too low, for example, the residual electric quantity of the self battery is lower than 10%, the mobile device moves to the charging pile to enter an autonomous charging mode.

After the mobile device moves to the charging pile, the mobile device obtains an initial distance between a receiving coil in the mobile device and a transmitting coil of the charging pile. Wherein, can set up the distance measurement subassembly in the mobile device, this distance measurement subassembly can set up the periphery at receiving coil, and the quantity of distance measurement subassembly can be one, also can be a plurality of, and this distance measurement subassembly can be ultrasonic sensor, lidar sensor, etc.. The movable device measures the distance between the receiving coil and the transmitting coil through the distance measuring component to obtain the initial distance.

The ultrasonic sensor measures the distance between the receiving coil and the transmitting coil by emitting ultrasonic waves. Ultrasonic waves are a part of sound waves, which are inaudible to the human ear and have frequencies above 20KHZ, which have in common with all sound waves, are generated by the vibration of matter and can only propagate in a medium. The ultrasonic wave has strong directivity, slow energy consumption and long propagation distance in a medium, so that the ultrasonic wave is utilized to measure the distance between the receiving coil and the transmitting coil, and the ultrasonic wave has the advantages of high measurement efficiency, convenience, simple calculation, easy control and the like. Hereinafter, a process of the movable apparatus measuring a distance between the receiving coil and the transmitting coil by the ultrasonic sensor will be described.

The principle of ultrasonic ranging is that the propagation speed of ultrasonic waves in the air is known, and the movable equipment calculates the actual distance from a transmitting point to an obstacle according to the time difference between the transmitting time of the ultrasonic waves transmitted by an ultrasonic sensor and the receiving time of the ultrasonic waves reflected by the obstacle. The formula for ultrasonic ranging is expressed as: l is the initial distance between the receiving coil and the transmitting coil, C is the propagation velocity of the ultrasonic wave in the air, and T is half of the time difference between the transmitting time and the receiving time.

The process of measuring the distance between the receiving coil and the transmitting coil by the movable equipment through the laser radar sensor is similar to the process of measuring the distance by the ultrasonic sensor, and is not repeated herein.

It should be noted that the lidar sensor is larger in size and higher in cost than the ultrasonic sensor, and for a non-large mobile device such as a robot dog or an unmanned aerial vehicle, the ultrasonic sensor may be preferably used as a distance measurement component to measure an initial distance between a receiving coil and a transmitting coil in the mobile device.

Step 202, the mobile device detects whether there is a position offset between the receiving coil and the transmitting coil according to the initial distance and the preset distance range.

Wherein the predetermined distance range is related to the height of different predetermined areas on the transmitting coil. Hereinafter, the arrangement form of the different preset areas will be described.

Illustratively, the outer circumference of the transmitting coil may be provided with a height gradient region, please refer to fig. 3, fig. 3 is a schematic diagram of an exemplary height gradient region provided at the outer circumference of the transmitting coil. As shown in fig. 3, the height gradient region may surround the circumference of the transmit coil.

In the embodiment of the present application, the height gradient region may include a plurality of different preset regions. In a possible embodiment, the different predetermined regions are distributed in the height gradient region in the form of sectors, as shown in fig. 4, fig. 4 is a schematic diagram of an exemplary distribution of the different predetermined regions in the height gradient region; in another possible embodiment, the different predetermined regions may also be distributed in the height gradient region in the form of a circular ring, wherein the distribution of the predetermined regions is not particularly limited.

Wherein, the heights of different preset areas can be different; the heights of the different preset regions may not be completely the same, that is, the preset regions with the same height may exist in the different preset regions, or the preset regions with different heights may also exist.

For example, taking the case that different preset regions are distributed in the height gradient region in a circular ring manner, the height of each preset region may be sequentially increased or decreased from outside to inside; taking the example that different preset regions are distributed in the height gradient region in the form of sectors, as shown in fig. 4, the heights of the preset regions located at two end points of the long axis of the transmitting coil and the preset regions located at two end points of the short axis of the transmitting coil may be equal, and the heights of the remaining preset regions are sequentially decreased.

In this way, the mobile device can determine the preset distance range according to the heights of different preset areas on the transmitting coil. Optionally, the preset distance range may include heights of different preset areas; optionally, the preset distance range may include a plurality of distance differences, each distance difference being a difference obtained by subtracting a height of a corresponding preset area from a maximum distance between a receiving coil and a transmitting coil of the movable device.

The mobile equipment detects whether the distance measuring assembly detects a height gradient area or not according to the measured initial distance and the preset distance range, if the mobile equipment determines that the distance measuring assembly detects the height gradient area according to the initial distance and the preset distance range, it is determined that no position offset exists between the receiving coil and the transmitting coil, and if the mobile equipment determines that the distance measuring assembly does not detect the height gradient area according to the initial distance and the preset distance range, it is determined that the position offset exists between the receiving coil and the transmitting coil.

In step 203, if there is a position offset between the receiving coil and the transmitting coil, the mobile device controls the mobile device to move to a position where the receiving coil is aligned with the transmitting coil, and controls the receiving coil to enter a wireless charging state.

If the movable device determines that the position offset exists between the receiving coil and the transmitting coil, the movable device controls the movable device to move, for example, the movable device can be translated back and forth and left and right or rotated around the central axis of the movable device until the receiving coil and the transmitting coil are aligned. After the receiving coil is aligned with the transmitting coil, the movable equipment controls the receiving coil to enter a wireless charging state.

Taking the example that the mobile device is a robot dog, the robot dog has strong motion capability, so the power consumption capability of the robot dog is very high, and the convenience of the charging mode is very important. The embodiment of the application charges the machine dog through the wireless mode of charging, and receiving coil can accomplish stealthily, and the wear rate is low, and the range of application is wide, and the machine dog can charge by oneself, and the convenience is high.

In addition, when wireless charging, the machine dog is subject to the form of self, and it is difficult to remove the transmitting coil of convenient matching electric pile to place the receiving coil on the body in, and this application embodiment can conveniently detect whether there is offset between receiving coil and the transmitting coil through initial distance and preset distance scope, realizes that the position between receiving coil and the transmitting coil aligns, guarantees the charge efficiency maximize of machine dog.

In the embodiment, the initial distance between the receiving coil in the mobile device and the transmitting coil of the charging pile is obtained, then, whether the position offset exists between the receiving coil and the transmitting coil is detected according to the initial distance and the preset distance range, the preset distance range is related to the heights of different preset areas on the transmitting coil, if the position offset exists between the receiving coil and the transmitting coil, the mobile device is controlled to move to the position where the receiving coil and the transmitting coil are aligned, and the receiving coil is controlled to enter the wireless charging state, so that the embodiment of the application detects that the position offset exists between the receiving coil and the transmitting coil (namely, the receiving coil and the transmitting coil are not aligned) according to the initial distance and the preset distance range, namely, the mobile device is controlled to move to align the receiving coil and the transmitting coil, and the electromagnetic theory can know that the maximization of the charging efficiency can be ensured when the receiving coil and the transmitting coil are aligned (or aligned), therefore, after the position of the receiving coil is aligned with that of the transmitting coil, the receiving coil is controlled to enter a wireless charging state, the wireless charging efficiency is improved, and the maximization of the charging efficiency is facilitated.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 5, the present embodiment relates to a process of how the mobile device detects whether there is a position offset between the receiving coil and the transmitting coil according to the initial distance and the preset distance range. In this embodiment, the preset distance range includes a plurality of preset distances, as shown in fig. 5, step 202 may include step 501, step 502, step 503, and step 504 shown in fig. 5:

in step 501, the mobile device detects whether the initial distance meets an arrangement rule presented by a plurality of preset distances.

In this embodiment, the distance measurement module is an ultrasonic sensor, the transmitting coil and the receiving coil are both elliptical, and each preset region of the transmitting coil is distributed in the height gradient region in the form of a sector. The number and size of each preset area can be set by itself, and are not limited herein.

The preset distance range includes a plurality of preset distances, which may be heights of the different preset regions described above, or a plurality of distance differences described above, where each distance difference is a difference obtained by subtracting a height of a corresponding preset region from a maximum distance between a receiving coil and a transmitting coil of the mobile device on a plane where the receiving coil and the transmitting coil are located.

Taking the plurality of preset distances included in the preset distance range as the plurality of distance differences described above as an example, assuming that the maximum distance between the receiving coil and the plane (such as the ground) where the transmitting coil is located is 40cm, and the height of each preset region is 10cm, 9cm, 8cm, 7cm, and 6cm (the height of each preset region is in a gradient distribution rule), the plurality of preset distances included in the preset distance range is 30cm, 31cm, 32cm, 33cm, and 34 cm.

It should be noted that the ultrasonic sensor emits a series of square waves, and the initial distance measured by the movable equipment through the ultrasonic sensor includes a plurality of distances corresponding to the series of square waves. The step of detecting whether the initial distance conforms to the arrangement rule presented by the plurality of preset distances may be detecting whether the plurality of distances includes at least two of the plurality of preset distances included in the preset distance range.

If the plurality of distances measured by the movable equipment through the ultrasonic sensor comprise at least two of the plurality of preset distances included in the preset distance range, representing that the initial distance accords with the arrangement rule; otherwise, the characterization initial distance does not accord with the arrangement rule, and the movable equipment determines that the position offset exists between the receiving coil and the transmitting coil.

In one possible embodiment, the initial distance includes a plurality of target distances measured by the mobile device via a plurality of distance-measuring assemblies, so that the mobile device can perform the following steps a1 and a2 to implement the process of step 501:

in step a1, for each target distance of the initial distances, the mobile device detects whether the target distance complies with the alignment rules.

Step a2, if at least one of the target distances does not comply with the alignment rules, the removable device determines that the initial distance does not comply with the alignment rules.

It is assumed that the plurality of distance measuring units are four ultrasonic sensors, and the four ultrasonic sensors are respectively distributed outside two end points of a long axis of the elliptical receiving coil and outside two end points of a short axis of the receiving coil. Similar to the above-described embodiment, the target distance measured by each ultrasonic sensor includes a plurality of distances corresponding to a series of square waves emitted by the ultrasonic sensor, so that, for each target distance, the movable device detects whether the target distance includes at least two of a plurality of distances included in a preset distance range.

If at least two of a plurality of preset distances included in the preset distance range are included in a plurality of distances included in a certain target distance, determining that the target distance meets an arrangement rule, namely that the ultrasonic sensor corresponding to the target distance detects a height gradient area; otherwise, determining that the target distance does not accord with the arrangement rule, namely that the ultrasonic sensor corresponding to the target distance does not detect the height gradient area.

If the four target distances all accord with the arrangement rule, namely the four ultrasonic sensors detect the height gradient area, the movable equipment determines that the initial distance accords with the arrangement rule; if at least one target distance does not meet the arrangement rule, that is, none of the four ultrasonic sensors or a part of the ultrasonic sensors detect no height gradient region, the mobile device determines that the initial distance does not meet the arrangement rule.

Step 502, if the initial distance does not meet the arrangement rule, the mobile device determines that there is a position offset between the receiving coil and the transmitting coil.

If none of the four ultrasonic sensors detects the height gradient area or a part of the ultrasonic sensors do not detect the height gradient area, the movable device determines that a position offset exists between the receiving coil and the transmitting coil, and the movable device controls the movable device to move to a position where the receiving coil and the transmitting coil are aligned.

Illustratively, the movable device may perform the following steps B1 and B2 to implement a process of controlling the movable device to move to a position where the receive coil is aligned with the transmit coil position:

and step B1, the movable device controls the movable device to translate a preset distance along a preset direction.

Wherein the predetermined direction is related to the relative position between the receiving coil and the transmitting coil.

In one possible embodiment, the mobile device may store the relative positions of the four ultrasonic sensors and the receiving coil, e.g. ultrasonic sensor 1 on the front side of the receiving coil, ultrasonic sensor 2 on the back side of the receiving coil, ultrasonic sensor 3 on the left side of the receiving coil, ultrasonic sensor 4 on the right side of the receiving coil.

In this way, the movable apparatus can determine which ultrasonic sensor does not detect the height gradient region in the process of detecting whether there is a positional shift between the receiving coil and the transmitting coil. If there is a positional offset between the receive coil and the transmit coil, the moveable device may determine the direction of translation based on the position of the ultrasonic sensor that does not detect the height gradient region.

For example, if only the ultrasonic sensor 1 detects a height gradient region, none of the ultrasonic sensors 2 to 4 detects a height gradient region, the movable device controls the movable device to be moved forward by a preset distance, and so on.

And step B2, the movable device acquires a first updating distance between the receiving coil and the transmitting coil, and if no position deviation exists between the receiving coil and the transmitting coil according to the first updating distance and the preset distance range, the movable device is determined to move to a position where the receiving coil and the transmitting coil are aligned.

The manner of acquiring the first update distance is similar to that of acquiring the initial distance in the above embodiment, and the process of detecting whether the position offset exists between the receiving coil and the transmitting coil by the mobile device according to the first update distance and the preset distance range is similar to the process of detecting whether the position offset exists between the receiving coil and the transmitting coil by the mobile device according to the initial distance and the preset distance range in the above embodiment, and is not described herein again.

If the position deviation between the receiving coil and the transmitting coil does not exist any more, determining that the movable equipment moves to a position where the positions of the receiving coil and the transmitting coil are aligned; if there is a positional offset between the receive coil and the transmit coil, the mobile device continues to be moved until the receive coil and the transmit coil are positionally aligned.

In step 503, if the initial distance meets the arrangement rule, the mobile device determines whether the initial distance includes a target preset distance among a plurality of preset distances.

As described above, if all four target distances meet the arrangement rule, that is, all four ultrasonic sensors detect the height gradient region, the mobile device determines that the initial distance meets the arrangement rule. The mobile device further determines whether the initial distance includes a target preset distance of a plurality of preset distances.

In connection with the above example, continuing with the example that the initial distance includes four target distances measured by four ultrasonic sensors, the mobile device may perform the following steps C1 and C2 to implement the process of determining whether the initial distance includes a target preset distance of a plurality of preset distances:

in step C1, for each of the initial distances, the movable device detects whether the target distance includes a target preset distance among a plurality of preset distances.

Step C2, if the at least one target distance does not include the target preset distance, the mobile device determines that the initial distance does not include the target preset distance.

As described above, assuming that the four ultrasonic sensors are respectively distributed outside the two end points of the long axis of the elliptical receiving coil and outside the two end points of the short axis of the receiving coil, and the heights of the preset regions located at the two end points of the long axis of the transmitting coil and the preset regions located at the two end points of the short axis of the transmitting coil are equal, and the heights of the remaining preset regions are sequentially decreased, it can be understood that the height of the extension line of the long axis in the height gradient region and the height of the extension line of the short axis in the height gradient region are equal, and are the highest height in the height gradient region. Thus, the target preset distance is the maximum distance between the receiving coil and the plane of the transmitting coil minus the height of the extension line of the long axis (or the short axis) in the height gradient area. Referring to fig. 6, fig. 6 is a schematic diagram of exemplary positions of a mobile device and a transmitter coil.

If the target distance measured by each ultrasonic sensor comprises the target preset distance, the mobile equipment determines that the initial distance comprises the target preset distance, and if at least one target distance does not comprise the target preset distance, the mobile equipment determines that the initial distance does not comprise the target preset distance.

In step 504, if the initial distance does not include the target preset distance, the mobile device determines that a position offset exists between the receiving coil and the transmitting coil.

If the target distance measured by each ultrasonic sensor comprises the preset target distance, each ultrasonic sensor is characterized by detecting a height gradient area and facing to an extension line of the long axis (or the short axis) in the height gradient area, so that the fact that no position offset exists between the receiving coil and the transmitting coil is determined. If the at least one target distance does not include the target preset distance, the characteristic is that although each ultrasonic sensor detects the height gradient area, the at least one ultrasonic sensor is not aligned with the extension line of the long axis (or the short axis) in the height gradient area, so that the position offset between the receiving coil and the transmitting coil is determined.

In such a case where there is a positional offset between the receiving coil and the transmitting coil, the movable device may perform steps D1 and D2 to implement a process of controlling the movable device to move to a position where the receiving coil is positionally aligned with the transmitting coil as follows:

and D1, the movable device controls the movable device to rotate around the central axis of the movable device by a preset angle.

And D2, the movable device acquires a second updating distance between the receiving coil and the transmitting coil, and if no position deviation exists between the receiving coil and the transmitting coil according to the second updating distance and the preset distance range, the movable device is determined to move to a position where the receiving coil and the transmitting coil are aligned.

Because each ultrasonic sensor detects the height gradient area, only part of the ultrasonic sensors are not over against the extension line of the long axis (or the short axis) in the height gradient area, so that the movable equipment does not need to move left and right, but the central axis of the movable equipment rotates by a preset angle.

The method for acquiring the second update distance is similar to the method for acquiring the initial distance in the above embodiment, and the process for detecting whether the position offset exists between the receiving coil and the transmitting coil by the mobile device according to the second update distance and the preset distance range is similar to the process for detecting whether the position offset exists between the receiving coil and the transmitting coil by the mobile device according to the initial distance and the preset distance range in the above embodiment, which is not repeated here.

Therefore, the movable equipment can quickly and accurately detect whether the position deviation exists between the receiving coil and the transmitting coil through the implementation mode, and under the condition of different position deviations, the movable equipment is controlled to translate or rotate around the central axis until the positions of the receiving coil and the transmitting coil are aligned, so that the accurate alignment of the receiving coil and the transmitting coil is realized, and the maximization of the charging efficiency is facilitated.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 7, the present embodiment relates to a process of detecting a foreign object in a wireless charging process of a mobile device. As shown in fig. 7, the wireless charging method of this embodiment further includes steps 701 and 702:

step 701, the mobile device periodically obtains a third updated distance between the receiving coil and the transmitting coil, and detects whether the distance between the receiving coil and the transmitting coil changes according to the third updated distance and a preset distance range.

And after the movable equipment is controlled to move to the position where the receiving coil is aligned with the transmitting coil, the movable equipment controls the receiving coil to enter a wireless charging state. In the wireless charging process of the mobile device, the mobile device periodically obtains a third update distance between the receiving coil and the transmitting coil, and the obtaining manner of the third update distance is similar to the obtaining manner of the initial distance in the above embodiment, and is not described again here.

The mobile device detects whether the distance between the receiving coil and the transmitting coil changes according to the third updated distance and the preset distance range, for example, whether the third updated distance meets an arrangement rule presented by a plurality of preset distances included in the preset distance range may be detected, and if not, it is determined that the distance between the receiving coil and the transmitting coil changes.

In step 702, if the distance between the receiving coil and the transmitting coil changes, the mobile device controls the mobile device to move to a position where the receiving coil is aligned with the transmitting coil, or controls the receiving coil to exit the wireless charging state.

If the distance between the receiving coil and the transmitting coil changes, the relative position between the receiving coil and the transmitting coil may change, or a foreign object (e.g., a stone, etc.) may occur between the receiving coil and the transmitting coil.

Continuing with the example where the plurality of distance measurement components are four ultrasonic sensors, the third updated distance comprises the distance measured by each ultrasonic sensor. In a possible implementation manner, if the distances measured by the at least two ultrasonic sensors do not conform to the arrangement rule presented by the plurality of preset distances, it is determined that the relative position between the receiving coil and the transmitting coil changes, that is, the receiving coil and the transmitting coil have a position offset, and the movable device controls the movable device to move to a position where the receiving coil and the transmitting coil are aligned according to the implementation manner of the above embodiment.

In another possible implementation manner, if the distances measured by only one ultrasonic sensor do not conform to the arrangement rules presented by the preset distances, it is determined that a foreign object is present between the receiving coil and the transmitting coil, and the mobile device controls the receiving coil to exit the wireless charging state and outputs a foreign object prompt.

Above-mentioned embodiment is at the wireless in-process that charges of mobile device, periodically acquires the third update distance to carry out offset detection or foreign matter detection, ensure smooth, the high efficiency of wireless charging process and go on, be favorable to promoting charge efficiency, and avoid receiving coil or transmitting coil to damage, extension equipment life.

In an embodiment, based on the embodiment shown in fig. 2, in this embodiment, the initial distance is measured by the distance measuring component, and the wireless charging method of this embodiment further includes the following steps E1 and E2:

and step E1, the mobile device obtains the maximum echo distance, and searches the maximum transmitting power corresponding to the maximum echo distance in a preset mapping table.

In step E2, the mobile device sets the maximum transmit power to the transmit power of the distance measurement component.

Wherein the maximum echo distance may be the maximum distance between the receiving coil and the plane (such as the ground) where the transmitting coil is located, and in case the mobile device is a robot dog, the maximum echo distance may be 40cm, for example.

In this embodiment, a mapping relationship between the echo distance and the transmission power may be preset in the mobile device, where the mapping relationship includes a ranging limit of 2W transmission power of 1 meter, a ranging limit of 1W transmission power of 50 cm, and a ranging limit of 0.5W transmission power of 25 cm, and the mobile device determines that the maximum transmission power is 1W according to the maximum echo distance of 40cm, and sets 1W as the transmission power of the distance measurement component.

Therefore, the transmitting power of the distance measuring assembly is reasonably set, and the power consumption of the movable equipment can be reduced under the condition that the distance measuring assembly normally works.

In some possible embodiments, after the mobile device obtains the initial distance between the receiving coil in the mobile device and the transmitting coil of the charging pile, it may further detect whether the detected initial distance is greater than a maximum echo distance, where the maximum echo distance is determined according to a distance between a lower surface of the mobile device and the receiving coil, that is, the maximum echo distance may be a maximum distance between the receiving coil (disposed on the lower surface of the mobile device) and a plane (such as the ground) where the transmitting coil is located, and then, if the initial distance is less than or equal to the maximum echo distance, the mobile device performs the step of detecting whether there is a position offset between the receiving coil and the transmitting coil according to the initial distance and a preset distance range.

It will be appreciated that if the initial distance is greater than the maximum echo distance, it is not an actual distance between the receiving coil and the transmitting coil, for example, the initial distance may be a distance that the ultrasonic sensor tests in the case of sound wave "bias" or may be a distance that the mobile device tests without moving to the charging post.

In this way, in order to avoid increasing the calculation amount of the mobile device by a large number of invalid test distances, before the mobile device detects whether a position offset exists between the receiving coil and the transmitting coil, the mobile device first detects whether the acquired initial distance is greater than a maximum echo distance, if the initial distance is less than or equal to the maximum echo distance, the initial distance is represented as valid data, the mobile device performs a step of detecting whether the position offset exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range, if the initial distance is greater than the maximum echo distance, the initial distance is represented as invalid data, and the mobile device discards the invalid data without processing, so that the calculation amount of the mobile device can be reduced, and the power consumption of the mobile device can be saved.

In an embodiment, based on the embodiment shown in fig. 2, the mobile device may further obtain a charging pile position of the charging pile, perform path planning according to the charging pile position, a current device position of the mobile device, and preset map data to obtain a planned path, and then control the mobile device to move to a preset distance range of the charging pile according to an indication of the planned path.

The mobile equipment can acquire the charging pile position of the charging pile and the current equipment position of the mobile equipment through sensors (such as a laser radar sensor, a binocular camera and the like) installed in the mobile equipment, and perform path planning by adopting a path planning algorithm and map data of the current area to obtain a planned path from the mobile equipment to the charging pile.

Then, the movable equipment controls the movable equipment to move to the preset distance range of the charging pile according to the indication of the planned path, the movable equipment is continuously taken as a machine dog as an example, the machine dog opens an ultrasonic mode after moving to the position near the charging pile, namely, the standing state of the machine body is kept, the machine dog enters the state of lying prone down and enters the wireless charging state after the position of the receiving coil and the position of the transmitting coil are aligned in the mode of the embodiment, and the machine dog recovers the standing motion state after the charging is finished, so that the flexible and accurate coil positioning of the machine dog is realized, and the machine dog is conveniently and efficiently charged.

In one embodiment, there is provided a wireless charging method for a mobile device shown in fig. 1, the method comprising:

step a, the movable equipment acquires the maximum echo distance and searches the maximum transmitting power corresponding to the maximum echo distance in a preset mapping table.

Step b, the mobile device sets the maximum transmit power to the transmit power of the distance measurement component.

And c, the mobile equipment acquires the charging pile position of the charging pile, and carries out path planning according to the charging pile position, the current equipment position of the mobile equipment and preset map data to obtain a planned path.

And d, controlling the movable equipment to move to the preset distance range of the charging pile according to the indication of the planned path by the movable equipment.

And e, acquiring an initial distance between a receiving coil in the mobile equipment and a transmitting coil of the charging pile by the mobile equipment, wherein the initial distance is acquired by the distance measuring component.

And f, detecting whether the initial distance is larger than the maximum echo distance by the movable equipment, wherein the maximum echo distance is determined according to the distance between the lower surface of the movable equipment and the receiving coil.

And g, if the initial distance is smaller than or equal to the maximum echo distance, the movable equipment detects whether the position offset exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range, wherein the preset distance range is related to the heights of different preset areas on the transmitting coil.

Wherein, the default distance scope includes a plurality of default distances, and the mobile device detects whether there is offset between receiving coil and the transmitting coil according to initial distance and default distance scope, includes: the mobile equipment detects whether the initial distance accords with an arrangement rule presented by a plurality of preset distances; if the initial distance does not accord with the arrangement rule, the movable equipment determines that the position deviation exists between the receiving coil and the transmitting coil; if the initial distance meets the arrangement rule, the movable equipment judges whether the initial distance comprises a target preset distance in a plurality of preset distances; if the initial distance does not include the target preset distance, the mobile device determines that a position offset exists between the receiving coil and the transmitting coil.

Wherein the initial distance comprises a plurality of target distances measured by a plurality of distance measuring components; the mobile device detecting whether the initial distance conforms to an arrangement rule presented by a plurality of preset distances includes: for each target distance in the initial distance, the movable equipment detects whether the target distance meets an arrangement rule; if at least one of the target distances does not comply with the arrangement rules, the mobile device determines that the initial distance does not comply with the arrangement rules.

Wherein, the mobile device judges whether the initial distance includes a target preset distance among a plurality of preset distances, including: for each target distance in the initial distances, the movable device detects whether the target distance comprises a target preset distance in a plurality of preset distances; if at least one target distance does not include the target preset distance, the mobile device determines that the initial distance does not include the target preset distance.

And h, if the position deviation exists between the receiving coil and the transmitting coil, the movable equipment is controlled to move to the position where the receiving coil is aligned with the transmitting coil, and the receiving coil is controlled to enter a wireless charging state.

Wherein, under the condition that the initial distance does not accord with the arrangement rule, the movable equipment controls the movable equipment to move to the position that the receiving coil is aligned with the position of the transmitting coil, and the method comprises the following steps: the movable equipment controls the movable equipment to translate for a preset distance along a preset direction, and the preset direction is related to the relative position between the receiving coil and the transmitting coil; the mobile equipment obtains a first updating distance between the receiving coil and the transmitting coil, and if no position deviation exists between the receiving coil and the transmitting coil according to the first updating distance and a preset distance range, the mobile equipment is determined to move to a position where the receiving coil and the transmitting coil are aligned.

Wherein, in the case that the initial distance does not include the target preset distance, the movable device controls the movable device to move to a position where the receiving coil is aligned with the transmitting coil, including: the movable equipment controls the movable equipment to rotate around the central axis of the movable equipment by a preset angle; and the movable equipment acquires a second updating distance between the receiving coil and the transmitting coil, and if no position deviation exists between the receiving coil and the transmitting coil according to the second updating distance and the preset distance range, the movable equipment is determined to move to a position where the receiving coil and the transmitting coil are aligned.

And step i, periodically acquiring a third updating distance between the receiving coil and the transmitting coil by the movable equipment, and detecting whether the distance between the receiving coil and the transmitting coil changes or not according to the third updating distance and the preset distance range.

And j, if the distance between the receiving coil and the transmitting coil is changed, the movable equipment is controlled to move to a position where the receiving coil is aligned with the transmitting coil, or the receiving coil is controlled to exit the wireless charging state.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the above-described flowcharts may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of the sub-steps or stages of other steps.

Fig. 8 is a block diagram of a wireless charging device according to an embodiment. As shown in fig. 8, the apparatus includes:

a first obtaining module 801, configured to obtain an initial distance between a receiving coil in the mobile device and a transmitting coil of the charging pile;

a first detecting module 802, configured to detect whether a position offset exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range; the preset distance range is related to the heights of different preset areas on the transmitting coil;

a first control module 803, configured to control the mobile device to move to a position where the receiving coil is aligned with the transmitting coil, and control the receiving coil to enter a wireless charging state if there is a position offset between the receiving coil and the transmitting coil.

Optionally, the preset distance range includes a plurality of preset distances; the first detection module 802 includes:

the detection unit is used for detecting whether the initial distance accords with the arrangement rule presented by the preset distances;

a first determining unit, configured to determine that a position offset exists between the receiving coil and the transmitting coil if the initial distance does not meet the arrangement rule.

Optionally, the first detection module 802 further includes:

a determining unit, configured to determine whether the initial distance includes a target preset distance in the plurality of preset distances if the initial distance meets the arrangement rule;

a second determining unit, configured to determine that a position offset exists between the receiving coil and the transmitting coil if the initial distance does not include the target preset distance.

Optionally, the initial distance comprises a plurality of target distances measured by a plurality of distance measuring components; the detection unit is specifically configured to detect, for each target distance in the initial distances, whether the target distance meets the arrangement rule; and if at least one target distance does not accord with the arrangement rule, determining that the initial distance does not accord with the arrangement rule.

Optionally, the first control module 803 is specifically configured to control the movable device to translate a preset distance along a preset direction, where the preset direction is related to a relative position between the receiving coil and the transmitting coil; and acquiring a first updating distance between the receiving coil and the transmitting coil, and determining that the movable equipment moves to a position where the receiving coil and the transmitting coil are aligned if no position deviation exists between the receiving coil and the transmitting coil according to the first updating distance and the preset distance range.

Optionally, the determining unit is specifically configured to detect, for each target distance in the initial distances, whether the target distance includes the target preset distance in the plurality of preset distances; and if at least one target distance does not comprise the target preset distance, determining that the initial distance does not comprise the target preset distance.

Optionally, the first control module 803 is specifically configured to control the movable device to rotate around a central axis of the movable device by a preset angle; and acquiring a second updating distance between the receiving coil and the transmitting coil, and determining that the movable equipment moves to a position where the receiving coil and the transmitting coil are aligned if no position deviation exists between the receiving coil and the transmitting coil according to the second updating distance and the preset distance range.

Optionally, the apparatus further comprises:

a second obtaining module, configured to periodically obtain a third updated distance between the receiving coil and the transmitting coil, and detect whether a distance between the receiving coil and the transmitting coil changes according to the third updated distance and the preset distance range;

and the second control module is used for controlling the movable equipment to move to a position where the receiving coil is aligned with the transmitting coil or controlling the receiving coil to exit a wireless charging state if the distance between the receiving coil and the transmitting coil is changed.

Optionally, the apparatus further comprises:

a second detection module, configured to detect whether the initial distance is greater than a maximum echo distance, where the maximum echo distance is determined according to a distance between a lower surface of the mobile device and the receiving coil;

the first detection module is specifically configured to detect whether a position offset exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range if the initial distance is less than or equal to the maximum echo distance.

Optionally, the initial distance is measured by a distance measuring component, and the apparatus further includes:

the third acquisition module is used for acquiring the maximum echo distance and searching the maximum transmitting power corresponding to the maximum echo distance in a preset mapping table;

a setting module for setting the maximum transmit power to the transmit power of the distance measurement component.

Optionally, the apparatus further comprises:

the fourth acquisition module is used for acquiring the charging pile position of the charging pile and planning a path according to the charging pile position, the current equipment position of the mobile equipment and preset map data to obtain a planned path;

a third control module for controlling the movable equipment to move to the preset distance range of the charging pile according to the indication of the planned path

The division of the modules in the wireless charging device is merely for illustration, and in other embodiments, the wireless charging device may be divided into different modules as needed to complete all or part of the functions of the wireless charging device.

For specific limitations of the wireless charging device, reference may be made to the above limitations of the wireless charging method, which is not described herein again. The modules in the wireless charging apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, an electronic device is provided that includes a processing component, a receive coil, and a distance measurement component;

the distance measuring component is used for measuring the initial distance between the receiving coil and the transmitting coil of the charging pile under the control of the processing component;

Optionally, the number of the distance measurement assemblies is multiple, and the multiple distance measurement assemblies are regularly distributed on the periphery of the receiving coil.

For specific limitations and advantages of the electronic device, reference may be made to the above limitations of the wireless charging method, which are not described herein again.

In one embodiment, a wireless charging system is provided, which includes a charging pile and the electronic device of the above embodiment;

the electronic device is used for executing the wireless charging method in the embodiment;

For specific limitations and advantages of the wireless charging system, reference may be made to the above limitations of the wireless charging method, which are not described herein again.

Fig. 9 is a schematic diagram of an internal structure of an electronic device in one embodiment. The electronic equipment can be intelligent equipment which can automatically move, such as a robot, a robot dog, an unmanned aerial vehicle, an electric automobile and the like. The electronic device includes a processor and a memory connected by a system bus. The processor may include one or more processing units, among others. The processor may be a CPU (Central Processing Unit), a DSP (Digital Signal processor), or the like. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing a wireless charging method provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium.

The implementation of each module in the wireless charging apparatus provided in the embodiments of the present application may be in the form of a computer program. The computer program may be run on a terminal or a server. Program modules constituted by such computer programs may be stored on the memory of the electronic device. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of a wireless charging method.

Embodiments of the present application also provide a computer program product containing instructions that, when run on a computer, cause the computer to perform a wireless charging method.

Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. The nonvolatile Memory may include a ROM (Read-Only Memory), a PROM (Programmable Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a flash Memory. Volatile Memory can include RAM (Random Access Memory), which acts as external cache Memory. By way of illustration and not limitation, RAM is available in many forms, such as SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), SDRAM (Synchronous Dynamic Random Access Memory), Double Data Rate DDR SDRAM (Double Data Rate Synchronous Random Access Memory), ESDRAM (Enhanced Synchronous Dynamic Random Access Memory), SLDRAM (Synchronous Link Dynamic Random Access Memory), RDRAM (Random Dynamic Random Access Memory), and DRmb DRAM (Dynamic Random Access Memory).

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A wireless charging method, comprising:

2. The method of claim 1, wherein the preset distance range comprises a plurality of preset distances; the detecting whether there is a position offset between the receiving coil and the transmitting coil according to the initial distance and a preset distance range includes:

detecting whether the initial distance accords with an arrangement rule presented by the preset distances;

and if the initial distance does not accord with the arrangement rule, determining that a position offset exists between the receiving coil and the transmitting coil.

3. The method of claim 2, further comprising:

if the initial distance meets the arrangement rule, judging whether the initial distance comprises a target preset distance in the preset distances;

and if the initial distance does not comprise the target preset distance, determining that a position offset exists between the receiving coil and the transmitting coil.

4. The method of claim 3, wherein the initial distance comprises a plurality of target distances measured by a plurality of distance measuring components; the detecting whether the initial distance meets an arrangement rule presented by the plurality of preset distances includes:

for each target distance in the initial distances, detecting whether the target distance meets the arrangement rule;

and if at least one target distance does not accord with the arrangement rule, determining that the initial distance does not accord with the arrangement rule.

5. The method of claim 4, wherein said controlling the movable device to move to a position where the receive coil is aligned with the transmit coil position comprises:

controlling the movable equipment to translate for a preset distance along a preset direction, wherein the preset direction is related to the relative position between the receiving coil and the transmitting coil;

and acquiring a first updating distance between the receiving coil and the transmitting coil, and determining that the movable equipment moves to a position where the receiving coil and the transmitting coil are aligned if no position deviation exists between the receiving coil and the transmitting coil according to the first updating distance and the preset distance range.

6. The method of claim 4, wherein said determining whether the initial distance comprises a target preset distance of the plurality of preset distances comprises:

for each of the target distances in the initial distance, detecting whether the target distance includes the target preset distance in the plurality of preset distances;

and if at least one target distance does not comprise the target preset distance, determining that the initial distance does not comprise the target preset distance.

7. The method of claim 6, wherein said controlling the movable device to move to a position where the receive coil is aligned with the transmit coil position comprises:

controlling the movable equipment to rotate around the central axis of the movable equipment by a preset angle;

and acquiring a second updating distance between the receiving coil and the transmitting coil, and determining that the movable equipment moves to a position where the receiving coil and the transmitting coil are aligned if no position deviation exists between the receiving coil and the transmitting coil according to the second updating distance and the preset distance range.

8. The method of claim 1, wherein after the controlling the receive coil to enter a wireless charging state, the method further comprises:

periodically acquiring a third updating distance between the receiving coil and the transmitting coil, and detecting whether the distance between the receiving coil and the transmitting coil changes or not according to the third updating distance and the preset distance range;

and if the distance between the receiving coil and the transmitting coil is changed, controlling the movable equipment to move to a position where the receiving coil is aligned with the transmitting coil, or controlling the receiving coil to exit a wireless charging state.

9. The method of claim 1, wherein after obtaining the initial distance between the receiving coil in the mobile device and the transmitting coil of the charging post, the method further comprises:

detecting whether the initial distance is greater than a maximum echo distance, the maximum echo distance being determined according to a distance between a lower surface of the movable device and the receiving coil;

the detecting whether there is a position offset between the receiving coil and the transmitting coil according to the initial distance and a preset distance range includes:

and if the initial distance is smaller than or equal to the maximum echo distance, detecting whether the position offset exists between the receiving coil and the transmitting coil according to the initial distance and a preset distance range.

10. The method of claim 1, wherein the initial distance is measured by a distance measurement assembly, the method further comprising:

acquiring a maximum echo distance, and searching a maximum transmitting power corresponding to the maximum echo distance in a preset mapping table;

setting the maximum transmit power to a transmit power of the distance measurement component.

11. The method of claim 1, further comprising:

acquiring a charging pile position of the charging pile, and planning a path according to the charging pile position, the current equipment position of the mobile equipment and preset map data to obtain a planned path;

and controlling the movable equipment to move to the preset distance range of the charging pile according to the indication of the planned path.

12. A wireless charging device, comprising:

13. An electronic device, characterized in that the electronic device comprises a processing component, a receiving coil and a distance measuring component;

14. The electronic device according to claim 13, wherein the number of the distance measurement components is plural, and the plural distance measurement components are regularly distributed on the outer periphery of the receiving coil.

15. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, causes the processor to perform the steps of the method according to any of claims 1 to 11.

16. A wireless charging system, comprising a charging post and an electronic device according to claim 13 or claim 14;

the electronic device for performing the wireless charging method of any one of claims 1-11;

17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 11.